From cc8e56f1702d2144f61a546ee1d06eeaa179a141 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Mon, 5 Nov 2012 15:59:13 +0100
Subject: [PATCH] OP699: changed update rate to use constant

---
 flight/Modules/PathPlanner/pathplanner.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/flight/Modules/PathPlanner/pathplanner.c b/flight/Modules/PathPlanner/pathplanner.c
index 27866b5b5..9a994133e 100644
--- a/flight/Modules/PathPlanner/pathplanner.c
+++ b/flight/Modules/PathPlanner/pathplanner.c
@@ -49,6 +49,7 @@
 #define MAX_QUEUE_SIZE 2
 #define F_PI 3.141526535897932f
 #define RAD2DEG (180.0f/F_PI)
+#define PATH_PLANNER_UPDATE_RATE_MS 20
 
 // Private types
 
@@ -142,7 +143,7 @@ static void pathPlannerTask(void *parameters)
 	while (1)
 	{
 
-		vTaskDelay(20);
+		vTaskDelay(PATH_PLANNER_UPDATE_RATE_MS);
 
 		FlightStatusGet(&flightStatus);
 		if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) {