From 7c1fca02e35906d133dbb2104fd082d9c8f7d2b9 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Sat, 15 Jun 2024 11:42:33 +0900 Subject: [PATCH] [Spinal] increase the imu pub rate from 200Hz to 500Hz --- .../lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h index f9cf37518..04d715bb1 100644 --- a/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h +++ b/aerial_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h @@ -238,7 +238,7 @@ class AttitudeEstimate inline const ap::Vector3f getSmoothAngular(uint8_t frame) { return estimator_->getSmoothAngular(frame); } inline const ap::Matrix3f getDesiredCoord() { return estimator_->getDesiredCoord(); } - static const uint8_t IMU_PUB_INTERVAL = 5; //10-> 100Hz, 2 -> 500Hz + static const uint8_t IMU_PUB_INTERVAL = 2; //10-> 100Hz, 2 -> 500Hz static const uint8_t ATTITUDE_PUB_INTERVAL = 100; //100 -> 10Hz private: