ArduPlane: make Guided update frequency limit configurable

[timtuxworth]

in Guided mode, the current code throttles updates from externally received messages that updates roll, pitch or throttle. allowing a maximum of one update every 3 seconds for any external message

For Plane Follow, the lua script runs at 10Hz, so this limit prevents it from working properly.

So as not to change existing behavior, I made it a new parameter GUIDED_UPD_LIM - in milliseconds, default to 3000.

[timtuxworth]

I found this was required for plane follow to work. Does this make sense @peterbarker @IamPete1 ?

[IamPete1]

You can update roll/pitch/throttle as fast as you like. I think the issue your having is that you can't swap from roll/pitch/throttle commands to a navigation command quickly because the timeout has to elapse?

[timtuxworth]

You can update roll/pitch/throttle as fast as you like. I think the issue your having is that you can't swap from roll/pitch/throttle commands to a navigation command quickly because the timeout has to elapse?

That might be what's happening @IamPete1 - the one that impacts me most is throttle, as in follow I am trying to navigate and also potentially adjust speed every loop. My use case is always level flight.

[IamPete1]

How about a update to handle_set_attitude_target such that if the bits are not set the time stamps are reset? This has the advantage that you can reset instantly rather than just having to wait for a smaller timeout.

[timtuxworth]

How about a update to handle_set_attitude_target such that if the bits are not set the time stamps are reset? This has the advantage that you can reset instantly rather than just having to wait for a smaller timeout.

I'm not using SET_ATTITUDE_TARGET - I'm using GUIDED_CHANGE_SPEED.

[IamPete1]

I'm not using SET_ATTITUDE_TARGET - I'm using GUIDED_CHANGE_SPEED.

GUIDED_CHANGE_SPEED commands don't use the timeouts your changing here? You must be using SET_ATTITUDE_TARGET somewhere or this change would make no difference?

Maybe you can explain the exact commands your using.

[timtuxworth]

I'm not using SET_ATTITUDE_TARGET - I'm using GUIDED_CHANGE_SPEED.

GUIDED_CHANGE_SPEED commands don't use the timeouts your changing here? You must be using SET_ATTITUDE_TARGET somewhere or this change would make no difference?

Maybe you can explain the exact commands your using.

I'm sure I found that this code was being hit by putting a breakpoint there, bit I can't remember the details now, so I'll see if I can duplicate the problem.