From e11b3f2f0e61368fea143d6fba9936c08d923143 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 20 Jun 2018 09:49:34 +1000 Subject: [PATCH] HAL_ChibiOS: run CAN thread at 3KHz at 10KHz we were causing occasional CRC errors on the UART to IOMCU --- libraries/AP_HAL_ChibiOS/Scheduler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp index 1313ba8081..6641c0417a 100644 --- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp +++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp @@ -306,7 +306,7 @@ void Scheduler::_uavcan_thread(void *arg) sched->delay_microseconds(20000); } while (true) { - sched->delay_microseconds(100); + sched->delay_microseconds(300); for (int i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) { if (AP_UAVCAN::get_uavcan(i) != nullptr) { CANManager::from(hal.can_mgr[i])->_timer_tick();