From a19c22569724ba18b69603cbc2242fd63ee58fde Mon Sep 17 00:00:00 2001 From: stac Date: Fri, 27 Aug 2010 02:15:02 +0000 Subject: [PATCH] ahrscomms: reduce retries and retry delay The number of retries and delay between retries was increased in a previous commit. This doesn't appear to be necessary so I'm reverting the increases. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1432 ebee16cc-31ac-478f-84a7-5cbb03baadba --- flight/PiOS/Common/pios_opahrs.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/Common/pios_opahrs.c b/flight/PiOS/Common/pios_opahrs.c index 7ea735d1f..997d7ea7c 100644 --- a/flight/PiOS/Common/pios_opahrs.c +++ b/flight/PiOS/Common/pios_opahrs.c @@ -103,7 +103,7 @@ static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, st opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP); - for (uint8_t retries = 0; retries < 100; retries++) { + for (uint8_t retries = 0; retries < 20; retries++) { if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *)rsp, sizeof(*rsp)) < 0) { return OPAHRS_RESULT_FAILED; } @@ -119,7 +119,7 @@ static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, st switch (rsp->payload.link.state) { case OPAHRS_MSG_LINK_STATE_BUSY: /* Wait for a small delay and retry */ - vTaskDelay(40 / portTICK_RATE_MS); + vTaskDelay(20 / portTICK_RATE_MS); continue; case OPAHRS_MSG_LINK_STATE_INACTIVE: case OPAHRS_MSG_LINK_STATE_READY: