fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 23:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tuned GPS update rates

Browse Source
This commit is contained in:
Lorenz Meier
2013-02-04 16:13:17 +01:00
parent 3fd8c73bfb
commit 12f4cb2dc3
1 changed files with 8 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/mavlink/mavlink.c
+8 -2
View File
@@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[])
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 Hz */
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 100);
/* 10 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
@@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
/* 5 Hz / 100 ms */
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
/* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 200);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
@@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 500);
} else {
/* very low baud rate, limit to 1 Hz / 1000 ms */