From 6d50a36b08f77b6122da13b009062760b3014478 Mon Sep 17 00:00:00 2001 From: Bob Long Date: Fri, 3 Jan 2025 23:43:58 +1100 Subject: [PATCH] AP_Vehicle: add comment for ESC Telem update rate --- libraries/AP_Vehicle/AP_Vehicle.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp index b4f002d52e6fa..7436fd1da87fc 100644 --- a/libraries/AP_Vehicle/AP_Vehicle.cpp +++ b/libraries/AP_Vehicle/AP_Vehicle.cpp @@ -624,6 +624,8 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = { #endif SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20, 225), #if HAL_WITH_ESC_TELEM + // This update function is responsible for checking timeouts and invalidating the ESC telemetry data. + // Be mindful of this if you are planning to reduce the frequency from 100Hz. SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem, update, 100, 50, 230), #endif #if AP_SERVO_TELEM_ENABLED