From 1083af21e80e9bf7df4671ba6811b23ffa4d18a8 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 13 Mar 2019 10:50:13 -0400
Subject: [PATCH] mc_pos_control limit to 50 Hz

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 74417afc5b..79b7852a66 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -582,11 +582,13 @@ MulticopterPositionControl::run()
 	_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
-	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	_home_pos_sub = orb_subscribe(ORB_ID(home_position));
 	_traj_wp_avoidance_sub = orb_subscribe(ORB_ID(vehicle_trajectory_waypoint));
 
+	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	orb_set_interval(_local_pos_sub, 20); // 50 Hz updates
+
 	// get initial values for all parameters and subscribtions
 	parameters_update(true);
 	poll_subscriptions();
-- 
GitLab