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SITL: speed up vicon messages to avoid EKF timeouts during resets

c415-sdk
Randy Mackay 5 years ago
parent
630bc01101
commit
31763424a3
1 changed files with 2 additions and 2 deletions
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  1. 4
      libraries/SITL/SIM_Vicon.cpp

4
libraries/SITL/SIM_Vicon.cpp
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@ -149,8 +149,8 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
// add yaw error reported to vehicle // add yaw error reported to vehicle
yaw = wrap_PI(yaw + radians(_sitl->vicon_yaw_error.get())); yaw = wrap_PI(yaw + radians(_sitl->vicon_yaw_error.get()));
// 25ms to 324ms delay before sending // 25ms to 124ms delay before sending
uint32_t delay_ms = 25 + unsigned(random()) % 300; uint32_t delay_ms = 25 + unsigned(random()) % 100;
uint64_t time_send_us = now_us + delay_ms * 1000UL; uint64_t time_send_us = now_us + delay_ms * 1000UL;
// send vision position estimate message // send vision position estimate message

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