Changing the Frequency of the Position Controller to 100Hz


I’m interested in adjusting the ‘mc_pos_control’ module frequency from 50 Hz to 100 Hz. I’ve noticed that the ‘mc_pos_control’ module is added as the ‘nav_and_controllers’ work queue, but I’m unsure about where or how to modify its actual run frequency.

Could anyone guide me on where and how I can make this change to set the position controller’s frequency to 100Hz? Any insights or pointers would be greatly appreciated.

Thank you in advance for your assistance!

The MC position controller registers on the local position topic:

The local position seems to be published in the EKF2:

Which is triggered after each EKF update:

If I check uorb top on my bench setup, it tells me that vehicle_local_position is running at 100 Hz, so I would expect the position controller to work at that same rate :thinking:. Can you verify that?

Thank you very much for your detailed guide, Julian.
Yes, I was able to check that Pos, att, and rate modules run at 100Hz, 200Hz, and 800Hz, respectively, using CUAV Nora with the latest px4 firmware.

So I believe the controller diagram in the PX4 User Guide is inaccurate?