From fd2fd70a8aed840623168b3fad09345af3efda55 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 22 Sep 2024 13:46:09 +1000
Subject: [PATCH] Rover: correct initialisation of PrecLand buffers

this value determines the size of buffers allocated.

Too high and you waste RAM.  Too low and you probably won't store data correctly.
---
 Rover/precision_landing.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Rover/precision_landing.cpp b/Rover/precision_landing.cpp
index c62b499b6a..3e6f1c105d 100644
--- a/Rover/precision_landing.cpp
+++ b/Rover/precision_landing.cpp
@@ -8,7 +8,9 @@
 
 void Rover::init_precland()
 {
-    rover.precland.init(400);
+    // scheduler table specifies 400Hz, but we can call it no faster
+    // than the scheduler loop rate:
+    rover.precland.init(MIN(400, scheduler.get_loop_rate_hz()));
 }
 
 void Rover::update_precland()