APMRover2: unhide default NAVL1_PERIOD with a define

set the correct value to param
8 years ago · d4bd61d859
4 changed files with 10 additions and 3 deletions
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@ -621,5 +621,5 @@ void Rover::load_parameters(void)
				@@ -621,5 +621,5 @@ void Rover::load_parameters(void)
    cliSerial->printf("load_all took %luus\n", micros() - before);
    
    // set a more reasonable default NAVL1_PERIOD for rovers
-    L1_controller.set_default_period(8);
+    L1_controller.set_default_period(NAVL1_PERIOD);
 }
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@ -182,6 +182,13 @@
				@@ -182,6 +182,13 @@
  #define CAMERA ENABLED
 #endif

+//////////////////////////////////////////////////////////////////////////////
+// NAVL1
+//
+#ifndef NAVL1
+  #define NAVL1_PERIOD    8
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // AIRSPEED_CRUISE
 //
--- a/Tools/autotest/default_params/rover-skid.parm
+++ b/Tools/autotest/default_params/rover-skid.parm
@ -27,7 +27,7 @@ MODE5        2
				@@ -27,7 +27,7 @@ MODE5        2
 MODE6        0
 STEER2SRV_P     1.8
 SIM_GPS_DELAY 1
-NAVL1_PERIOD 6
+NAVL1_PERIOD 8
 # we need small INS_ACC offsets so INS is recognised as being calibrated
 INS_ACCOFFS_X   0.001
 INS_ACCOFFS_Y   0.001
--- a/Tools/autotest/default_params/rover.parm
+++ b/Tools/autotest/default_params/rover.parm
@ -21,7 +21,7 @@ MODE5        2
				@@ -21,7 +21,7 @@ MODE5        2
 MODE6        0
 STEER2SRV_P     1.8
 SIM_GPS_DELAY 1
-NAVL1_PERIOD 6
+NAVL1_PERIOD 8
 # we need small INS_ACC offsets so INS is recognised as being calibrated
 INS_ACCOFFS_X   0.001
 INS_ACCOFFS_Y   0.001