Rate-limit navigator update rate

PX4 · Feb 22, 2017 · 6f30cc4 · 6f30cc4
1 parent 4bffb14
commit 6f30cc4
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
@@ -342,6 +342,9 @@ Navigator::task_main()
 
 	bool global_pos_available_once = false;
 
+	/* rate-limit global pos subscription to 20 Hz / 50 ms */
+	orb_set_interval(_global_pos_sub, 49);
+
 	while (!_task_should_exit) {
 
 		/* wait for up to 200ms for data */