Skip to content

Commit

Permalink
change default update rate to 200 Hz
Browse files Browse the repository at this point in the history
 - this goes along with the change PX4 side PX4/PX4-Autopilot#14759
  • Loading branch information
dagar committed May 1, 2020
1 parent eb62cd2 commit 0af86a7
Showing 3 changed files with 14 additions and 14 deletions.
22 changes: 11 additions & 11 deletions src/me/drton/jmavsim/ReportUpdater.java
Original file line number Diff line number Diff line change
@@ -4,31 +4,31 @@
* Updater for the visualizer's simulation state's report.
*/
public class ReportUpdater extends WorldObject {
private static final long UPDATE_FREQ_MS = 250;
private static final long UPDATE_INTERVAL_MS = 200;

private static final StringBuilder builder = new StringBuilder();
private static long updateFreq;
private static long updateIntervalMs;
private static long nextUpdateT;
private final Visualizer3D visualizer;


public ReportUpdater(World world, Visualizer3D visualizer) {
super(world);
this.visualizer = visualizer;
setUpdateFreq(UPDATE_FREQ_MS);
setUpdateInterval(UPDATE_INTERVAL_MS);
}

public static long getUpdateFreq() {
return ReportUpdater.updateFreq;
public static long getUpdateInterval() {
return ReportUpdater.updateIntervalMs;
}

public static void setUpdateFreq(long updateFreq) {
ReportUpdater.updateFreq = updateFreq;
ReportUpdater.nextUpdateT = System.currentTimeMillis() + updateFreq;
public static void setUpdateInterval(long updateInterval) {
ReportUpdater.updateIntervalMs = updateInterval;
ReportUpdater.nextUpdateT = System.currentTimeMillis() + updateInterval;
}

public static void resetUpdateFreq() {
setUpdateFreq(UPDATE_FREQ_MS);
public static void resetUpdateInterval() {
setUpdateInterval(UPDATE_INTERVAL_MS);
}

@Override
@@ -37,7 +37,7 @@ public void update(long t, boolean paused) {
return;
}

nextUpdateT = t + updateFreq;
nextUpdateT = t + updateIntervalMs;

if (!visualizer.showReportText()) {
return;
2 changes: 1 addition & 1 deletion src/me/drton/jmavsim/Simulator.java
Original file line number Diff line number Diff line change
@@ -57,7 +57,7 @@ private static enum Port {
public static boolean DEBUG_MODE = false;
public static boolean DISPLAY_ONLY = false; // display HIL_STATE_QUATERNION from the autopilot, simulation engine disabled

public static final int DEFAULT_SIM_RATE = 250; // Hz
public static final int DEFAULT_SIM_RATE = 200; // Hz
public static final double DEFAULT_SPEED_FACTOR = 1.0;
public static final int DEFAULT_AUTOPILOT_SYSID =
-1; // System ID of autopilot to communicate with. -1 to auto set ID on first received heartbeat.
4 changes: 2 additions & 2 deletions src/me/drton/jmavsim/Visualizer3D.java
Original file line number Diff line number Diff line change
@@ -582,9 +582,9 @@ public void setReportPaused(boolean pause) {
reportPaused = pause;
reportPanel.setIsFocusable(pause);
if (pause) {
ReportUpdater.setUpdateFreq(0L);
ReportUpdater.setUpdateInterval(0L);
} else {
ReportUpdater.resetUpdateFreq();
ReportUpdater.resetUpdateInterval();
}
}

0 comments on commit 0af86a7

Please sign in to comment.