From 853f4f2d482ba1bfcf16a0c4be6799bf6fbd6772 Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Thu, 27 Aug 2020 10:06:38 +0200
Subject: [PATCH] [WBD] fixed handling of MAS periodicity

---
 src/modules/wholeBodyDynamics/main.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/wholeBodyDynamics/main.cpp b/src/modules/wholeBodyDynamics/main.cpp
index b489c92c68..bae8c3b569 100644
--- a/src/modules/wholeBodyDynamics/main.cpp
+++ b/src/modules/wholeBodyDynamics/main.cpp
@@ -145,7 +145,7 @@ class dataFilter : public PeriodicThread
 public:
     dataFilter(BufferedPort<Vector> &_port_filtered_output,
                IThreeAxisGyroscopes* iGyro,
-               IThreeAxisLinearAccelerometers* iAcc): PeriodicThread(0.001),
+               IThreeAxisLinearAccelerometers* iAcc): PeriodicThread(0.01),
                                                       port_filtered_output(_port_filtered_output),
                                                       m_iGyro(iGyro),
                                                       m_iAcc(iAcc)
@@ -626,7 +626,7 @@ class wholeBodyDynamics: public RFModule
         Property masConf {{"device",Value("multipleanalogsensorsclient")},
                           {"local", Value("/"+local_name+"/inertials")},
                           {"remote",Value(remoteInertialName)},
-                          {"timeout",Value(0.04)}};
+                          {"timeout",Value(0.1)}};
 
         if (!dd_MASClient.open(masConf))
         {