control: reduce default control update frequency - Githubissues

Auterion / px4-ros2-interface-lib

Library to interface with PX4 from a companion computer using ROS 2

BSD 3-Clause "New" or "Revised" License

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control: reduce default control update frequency #37

Closed GuillaumeLaine closed 6 months ago

GuillaumeLaine commented 6 months ago

Changes

Reduce default control update frequency to 100Hz
Do not trigger setSetpointUpdateRateFromSetpointTypes() after registration if the mode has already set a desired setpoint update rate (e.g. already called setSetpointUpdateRate() in the mode constructor)

Testing

Tested in SITL that the expected control frequency is set when specifying / not specifying an update rate in the mode's constructor / onActivate