From 09f1373a08543024672b43b9d47f70614f061113 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 29 Jul 2017 10:31:02 +0200 Subject: [PATCH] MAVLink: Adjust stream rates to match real usage --- src/modules/mavlink/mavlink_main.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 7ef9e9870b..01949ab7e9 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2006,7 +2006,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("ALTITUDE", 1.0f); configure_stream("GPS_RAW_INT", 1.0f); configure_stream("ADSB_VEHICLE"); - configure_stream("COLLISION", 2.0f); + configure_stream("COLLISION"); configure_stream("DISTANCE_SENSOR", 0.5f); configure_stream("OPTICAL_FLOW_RAD", 1.0f); configure_stream("VISION_POSITION_ESTIMATE", 1.0f); @@ -2033,9 +2033,9 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("RC_CHANNELS", 20.0f); configure_stream("SERVO_OUTPUT_RAW_0", 10.0f); configure_stream("ALTITUDE", 10.0f); - configure_stream("GPS_RAW_INT", 5.0f); + configure_stream("GPS_RAW_INT"); configure_stream("ADSB_VEHICLE"); - configure_stream("COLLISION", 10.0f); + configure_stream("COLLISION"); configure_stream("DISTANCE_SENSOR", 10.0f); configure_stream("OPTICAL_FLOW_RAD", 10.0f); configure_stream("VISION_POSITION_ESTIMATE", 10.0f); @@ -2090,9 +2090,9 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("SERVO_OUTPUT_RAW_0", 20.0f); configure_stream("SERVO_OUTPUT_RAW_1", 20.0f); configure_stream("ALTITUDE", 10.0f); - configure_stream("GPS_RAW_INT", 10.0f); + configure_stream("GPS_RAW_INT"); configure_stream("ADSB_VEHICLE"); - configure_stream("COLLISION", 20.0f); + configure_stream("COLLISION"); configure_stream("DISTANCE_SENSOR", 10.0f); configure_stream("OPTICAL_FLOW_RAD", 10.0f); configure_stream("VISION_POSITION_ESTIMATE", 10.0f); @@ -2101,6 +2101,8 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("GLOBAL_POSITION_INT", 10.0f); configure_stream("LOCAL_POSITION_NED", 30.0f); configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f); + configure_stream("SYSTEM_TIME", 1.0f); + configure_stream("TIMESYNC", 10.0f); configure_stream("ATTITUDE_TARGET", 8.0f); configure_stream("HOME_POSITION", 0.5f); configure_stream("NAMED_VALUE_FLOAT", 50.0f);