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Code Issues Releases Activity

Stabilization: Dont make queue respond to both raw sensors and attitude because

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causes it to trigger most of the time every 1 ms which is consuming tons of
CPU.  Also lower the failsafe timeout since its likely due to overloading the
event system and we don't want to delay 100 ms.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2005 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-10-24 20:00:05 +00:00 committed by peabody124
parent 9944cdfcb0
commit a2e0cd2240
1 changed files with 2 additions and 2 deletions
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4
flight/OpenPilot/Modules/Stabilization/stabilization.c
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@ -48,7 +48,7 @@
#define MAX_QUEUE_SIZE 2
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define FAILSAFE_TIMEOUT_MS 100
#define FAILSAFE_TIMEOUT_MS 30
enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
@ -93,7 +93,7 @@ int32_t StabilizationInitialize()
// Listen for updates.
AttitudeActualConnectQueue(queue);
AttitudeRawConnectQueue(queue);
// AttitudeRawConnectQueue(queue);
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());