fly316/PX4-Autopilot
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Logging rate changes,

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This commit is contained in:
Lorenz Meier 2012-09-14 10:24:49 +02:00
parent e20c2541c6
commit 5dd6cbcb13
2 changed files with 7 additions and 6 deletions
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12
apps/mavlink/mavlink.c
View File

@ -1557,7 +1557,7 @@ int mavlink_thread_main(int argc, char *argv[])
}
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 921600) {
if (baudrate >= 460800) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 5);
@ -1567,15 +1567,15 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
/* 5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
} else if (baudrate >= 460800) {
} else if (baudrate >= 230400) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 115200) {

1
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -77,6 +77,7 @@ CONFIGURED_APPS += px4/attitude_estimator_bm
CONFIGURED_APPS += fixedwing_control
CONFIGURED_APPS += position_estimator
CONFIGURED_APPS += attitude_estimator_ekf
CONFIGURED_APPS += ground_estimator
# Hacking tools
#CONFIGURED_APPS += system/i2c