From a2e0cd224093dc0c99eac0eb0cb74c7b78c1a620 Mon Sep 17 00:00:00 2001 From: peabody124 Date: Sun, 24 Oct 2010 20:00:05 +0000 Subject: [PATCH] Stabilization: Dont make queue respond to both raw sensors and attitude because 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 --- flight/OpenPilot/Modules/Stabilization/stabilization.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/OpenPilot/Modules/Stabilization/stabilization.c b/flight/OpenPilot/Modules/Stabilization/stabilization.c index 99fc00de0..6de15ee56 100644 --- a/flight/OpenPilot/Modules/Stabilization/stabilization.c +++ b/flight/OpenPilot/Modules/Stabilization/stabilization.c @@ -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());