From 8e0c5136c0f79a47f7d61e4f0e54c811633b0676 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Fri, 17 Sep 2010 18:12:25 +0000
Subject: [PATCH] AHRS/Comms: Make the polling delay 1ms instead of 20ms to
 make sure if a message isn't ready we don't pause for a long time.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/PiOS/Common/pios_opahrs.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/flight/PiOS/Common/pios_opahrs.c b/flight/PiOS/Common/pios_opahrs.c
index f1cbd7f4d..74ebeec4c 100644
--- a/flight/PiOS/Common/pios_opahrs.c
+++ b/flight/PiOS/Common/pios_opahrs.c
@@ -50,7 +50,7 @@ static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
 
 	PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
 #ifdef PIOS_INCLUDE_FREERTOS
-	vTaskDelay(20 / portTICK_RATE_MS);
+	vTaskDelay(1 / portTICK_RATE_MS);
 #else
 	PIOS_DELAY_WaitmS(20);
 #endif
@@ -84,7 +84,7 @@ static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * r
 				case OPAHRS_MSG_LINK_STATE_INACTIVE:
 				/* Wait for a small delay and retry */
 #ifdef PIOS_INCLUDE_FREERTOS
-				vTaskDelay(20 / portTICK_RATE_MS);
+				vTaskDelay(1 / portTICK_RATE_MS);
 #else
 				PIOS_DELAY_WaitmS(20);
 #endif
@@ -98,7 +98,7 @@ static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * r
 			case OPAHRS_MSG_TYPE_USER_V1:
 			/* Wait for a small delay and retry */
 #ifdef PIOS_INCLUDE_FREERTOS
-			vTaskDelay(50 / portTICK_RATE_MS);
+			vTaskDelay(1 / portTICK_RATE_MS);
 #else
 			PIOS_DELAY_WaitmS(50);
 #endif
@@ -132,7 +132,7 @@ static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, st
 				case OPAHRS_MSG_LINK_STATE_BUSY:
 				/* Wait for a small delay and retry */
 #ifdef PIOS_INCLUDE_FREERTOS
-				vTaskDelay(20 / portTICK_RATE_MS);
+				vTaskDelay(1 / portTICK_RATE_MS);
 #else
 				PIOS_DELAY_WaitmS(20);
 #endif
@@ -198,7 +198,7 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
 
 	PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
 #ifdef PIOS_INCLUDE_FREERTOS
-	vTaskDelay(20 / portTICK_RATE_MS);
+	vTaskDelay(1 / portTICK_RATE_MS);
 #else
 	PIOS_DELAY_WaitmS(20);
 #endif
@@ -217,7 +217,7 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
 			break;
 		}
 #ifdef PIOS_INCLUDE_FREERTOS
-		vTaskDelay(10 / portTICK_RATE_MS);
+		vTaskDelay(1 / portTICK_RATE_MS);
 #else
 		PIOS_DELAY_WaitmS(10);
 #endif