From b54cf410ef6bbccf91be58e103360c1c41820393 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 22 Aug 2019 20:11:24 +0900 Subject: [PATCH] Copter: increase read_rangefinder to 50hz --- ArduCopter/Copter.cpp | 2 +- ArduCopter/sensors.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp index a939d9f7ec..f763182615 100644 --- a/ArduCopter/Copter.cpp +++ b/ArduCopter/Copter.cpp @@ -104,7 +104,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = { SCHED_TASK(auto_disarm_check, 10, 50), SCHED_TASK(auto_trim, 10, 75), #if RANGEFINDER_ENABLED == ENABLED - SCHED_TASK(read_rangefinder, 20, 100), + SCHED_TASK(read_rangefinder, 50, 100), #endif #if PROXIMITY_ENABLED == ENABLED SCHED_TASK_CLASS(AP_Proximity, &copter.g2.proximity, update, 100, 50), diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp index 11a756b861..451a28196d 100644 --- a/ArduCopter/sensors.cpp +++ b/ArduCopter/sensors.cpp @@ -47,7 +47,7 @@ void Copter::read_rangefinder(void) // reset filter if we haven't used it within the last second rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm); } else { - rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f); + rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.02f); } rangefinder_state.last_healthy_ms = now; }