From 4ca48f225dc59e6e3cb1a06f22f8a5857b1ff981 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Aug 2019 15:32:10 +1000
Subject: [PATCH] SITL: send vicon data at 70ms intervals

this matches the max rate that EK2 will accept this data
---
 libraries/SITL/SIM_Vicon.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/SIM_Vicon.cpp b/libraries/SITL/SIM_Vicon.cpp
index a8775c354e..bc832bd8da 100644
--- a/libraries/SITL/SIM_Vicon.cpp
+++ b/libraries/SITL/SIM_Vicon.cpp
@@ -97,8 +97,8 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
         return;
     }
 
-    if (now_us - last_observation_usec < 10000) {
-        // create observations at 10ms
+    if (now_us - last_observation_usec < 70000) {
+        // create observations at 70ms intervals (matches EK2 max rate)
         return;
     }