From bde36f0f4a27b7cbfa9916175a27d84205a3328b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 16 Oct 2019 12:27:06 -0400
Subject: [PATCH] ROMFS: rc.vtol_defaults limit inner loop rate (#13196)

 - temporary remedy for https://github.com/PX4/Firmware/issues/13149
---
 ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
index 96b1b2a6d6..4e577ffc25 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults
@@ -9,6 +9,10 @@ set VEHICLE_TYPE vtol
 
 if [ $AUTOCNF = yes ]
 then
+
+	# to minimize cpu usage on older boards limit inner loop to 400 Hz
+	param set IMU_GYRO_RATEMAX 400
+
 	param set MIS_TAKEOFF_ALT 20
 	param set MIS_YAW_TMT 10