fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Mavlink stream low bandwidth: add some important missing ones, update rates (#25524)

Browse Source 
* mavlink stream low bandwidth: add GLOBAL_POSITION

Signed-off-by: Silvan <silvan@auterion.com>

* mavlink stream low bandwidth: add FIGURE_EIGHT_EXECUTION_STATUS

Signed-off-by: Silvan <silvan@auterion.com>

* mavlink stream low bandwidth: increase sending rate for all positioning messages to 2Hz

Signed-off-by: Silvan <silvan@auterion.com>

* mavlink stream low bandwidth: reduce sending rate for a couple of status messages

Signed-off-by: Silvan <silvan@auterion.com>

* mavlink stream low bandwidth: add ATTITUDE_QUATERNION

Signed-off-by: Silvan <silvan@auterion.com>

* mavlink stream low bandwidth: use ATTITUDE_QUATERNION instead of ATTITUDE as its preferred by GCS

* mavlink stream low bandwidth: add RAW_RPM for vehicles with ICE

* mavlink stream low bandwidth: increase VFR_HUD rate

* mavlink stream low bandwidth: decrease FIGURE_EIGHT_EXECUTION_STATUS rate

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Alexander Lerach <alexander@auterion.com>
This commit is contained in:
Silvan Fuhrer 2025-09-05 16:28:09 +02:00 committed by GitHub
parent 1840c0db48
commit 5f5a1aa4ab
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 18 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
src/modules/mavlink/mavlink_main.cpp
View File

@ -1816,18 +1816,18 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("CAMERA_TRIGGER", 2.0f);
configure_stream_local("LOCAL_POSITION_NED", 1.0f);
configure_stream_local("ATTITUDE", 1.0f);
configure_stream_local("ATTITUDE_QUATERNION", 2.0f);
configure_stream_local("ALTITUDE", 1.0f);
configure_stream_local("DISTANCE_SENSOR", 2.0f);
configure_stream_local("DISTANCE_SENSOR", 1.0f);
configure_stream_local("MOUNT_ORIENTATION", 2.0f);
configure_stream_local("OBSTACLE_DISTANCE", 2.0f);
configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 2.0f);
configure_stream_local("ESC_INFO", 1.0f);
configure_stream_local("ESC_STATUS", 2.0f);
configure_stream_local("ESC_INFO", 0.2f);
configure_stream_local("ESC_STATUS", 0.5f);
configure_stream_local("ADSB_VEHICLE", 2.0f);
configure_stream_local("ADSB_VEHICLE", 1.0f);
configure_stream_local("ATTITUDE_TARGET", 0.5f);
configure_stream_local("AVAILABLE_MODES", 0.3f);
configure_stream_local("BATTERY_STATUS", 0.5f);
@ -1835,25 +1835,30 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
configure_stream_local("GLOBAL_POSITION_INT", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 2.0f);
configure_stream_local("GLOBAL_POSITION", 2.0f);
configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
configure_stream_local("GPS2_RAW", 2.0f);
configure_stream_local("GPS_RAW_INT", 2.0f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 0.1f);
configure_stream_local("OPTICAL_FLOW_RAD", 0.1f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 1.0f);
configure_stream_local("PING", 0.1f);
configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.0f);
configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.0f);
configure_stream_local("POSITION_TARGET_GLOBAL_INT", 0.5f);
configure_stream_local("POSITION_TARGET_LOCAL_NED", 0.5f);
configure_stream_local("RAW_RPM", 1.0f);
configure_stream_local("RC_CHANNELS", 5.0f);
configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
configure_stream_local("SERVO_OUTPUT_RAW_0", 0.1f);
configure_stream_local("SYS_STATUS", 0.5f);
configure_stream_local("SYSTEM_TIME", 2.0f);
configure_stream_local("TIME_ESTIMATE_TO_TARGET", 0.5f);
configure_stream_local("VFR_HUD", 1.0f);
configure_stream_local("VFR_HUD", 1.5f);
configure_stream_local("VIBRATION", 0.1f);
configure_stream_local("WIND_COV", 0.1f);
#if defined(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS)
configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 0.5f);
#endif // MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS
break;
case MAVLINK_MODE_UAVIONIX: