From 539f8743254a514069462b72156f2ed66221630b Mon Sep 17 00:00:00 2001 From: DanielePettenuzzo Date: Fri, 8 Apr 2022 11:03:21 +0200 Subject: [PATCH] mavlink main - enable gps global origin stream also on mavlink low bw mode and change all rates to 1Hz --- src/modules/mavlink/mavlink_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index fd643a3220..8ad3fe7cff 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1507,7 +1507,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f); configure_stream_local("GLOBAL_POSITION_INT", 5.0f); configure_stream_local("GPS2_RAW", 1.0f); - configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f); + configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS_RAW_INT", 1.0f); configure_stream_local("GPS_STATUS", 1.0f); configure_stream_local("HOME_POSITION", 0.5f); @@ -1809,6 +1809,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("ESTIMATOR_STATUS", 1.0f); configure_stream_local("EXTENDED_SYS_STATE", 1.0f); configure_stream_local("GLOBAL_POSITION_INT", 10.0f); + configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f); configure_stream_local("GPS2_RAW", unlimited_rate); configure_stream_local("GPS_RAW_INT", unlimited_rate); configure_stream_local("HOME_POSITION", 0.5f);