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mavlink: GPS_GLOBAL_ORIGIN message added, set message rate depending on baudrate

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Anton Babushkin
2014-02-26 23:02:53 +04:00
parent 85dc422d98
commit 18f72f8dd7
2 changed files with 48 additions and 26 deletions
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src/modules/mavlink/mavlink_main.cpp
+11 -10
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@@ -1531,18 +1531,19 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_log_info(_mavlink_fd, "[mavlink] started");
/* add default streams, intervals depend on baud rate */
// if (_baudrate >= 230400) {
// } else if (_baudrate >= 115200) {
// } else if (_baudrate >= 57600) {
// }
float rate_mult = _baudrate / 57600.0f;
if (rate_mult > 4.0f) {
rate_mult = 4.0f;
}
add_stream("HEARTBEAT", 1.0f);
add_stream("SYS_STATUS", 1.0f);
add_stream("HIGHRES_IMU", 1.0f);
add_stream("ATTITUDE", 10.0f);
add_stream("GPS_RAW_INT", 1.0f);
add_stream("GLOBAL_POSITION_INT", 5.0f);
add_stream("LOCAL_POSITION_NED", 5.0f);
add_stream("SYS_STATUS", 1.0f * rate_mult);
add_stream("GPS_GLOBAL_ORIGIN", 0.5f * rate_mult);
add_stream("HIGHRES_IMU", 1.0f * rate_mult);
add_stream("ATTITUDE", 10.0f * rate_mult);
add_stream("GPS_RAW_INT", 1.0f * rate_mult);
add_stream("GLOBAL_POSITION_INT", 5.0f * rate_mult);
add_stream("LOCAL_POSITION_NED", 5.0f * rate_mult);
while (!_task_should_exit) {
/* main loop */