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backend: 20Hz report rate and pitch/roll match

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Mikkeli Matlock
2026-02-02 19:30:55 +09:00
parent 83cc6bed19
commit 18fbc63281
2 changed files with 8 additions and 6 deletions
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6
pi/backend/main.py
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@@ -20,8 +20,8 @@ socketio = SocketIO(app, async_mode="gevent", cors_allowed_origins="*")
gps = GPSService()
arduino = ArduinoService()
# Throttles for emission rate limiting (2Hz for arduino, 1Hz for GPS)
arduino_throttle = Throttle(min_interval=0.5) # 2Hz max
# Throttles for emission rate limiting (20Hz for arduino, 1Hz for GPS)
arduino_throttle = Throttle(min_interval=0.05) # 20Hz max
gps_throttle = Throttle(min_interval=1.0) # 1Hz max
# Track connected clients
@@ -157,7 +157,7 @@ def throttle_flusher():
"""Periodically flush pending throttled data."""
import gevent
while True:
gevent.sleep(0.5)
gevent.sleep(0.05) # 20Hz flush rate
if arduino_throttle.has_pending:
arduino_throttle.flush(lambda d: socketio.emit("arduino", d))