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Lowering default rates at 57600

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Lorenz Meier
2012-10-17 18:27:21 +02:00
parent 2d631fb005
commit 6a48b91bea
2 changed files with 5 additions and 5 deletions
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apps/mavlink/mavlink.c
+3 -3
View File
@@ -576,10 +576,10 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
} else if (baudrate >= 57600) { } else if (baudrate >= 57600) {
/* 10 Hz / 100 ms */ /* 10 Hz / 100 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
/* 10 Hz / 100 ms ATTITUDE */ /* 10 Hz / 100 ms ATTITUDE */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
/* 5 Hz / 200 ms */ /* 5 Hz / 200 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
/* 5 Hz / 200 ms */ /* 5 Hz / 200 ms */
apps/mavlink/orb_listener.c
+2 -2
View File
@@ -551,12 +551,12 @@ uorb_receive_start(void)
/* --- SENSORS RAW VALUE --- */ /* --- SENSORS RAW VALUE --- */
mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
/* rate limit set externally based on interface speed, set a basic default here */ /* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.sensor_sub, 100); /* 10Hz updates */ orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */
/* --- ATTITUDE VALUE --- */ /* --- ATTITUDE VALUE --- */
mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* rate limit set externally based on interface speed, set a basic default here */ /* rate limit set externally based on interface speed, set a basic default here */
orb_set_interval(mavlink_subs.att_sub, 100); /* 10Hz updates */ orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */
/* --- GPS VALUE --- */ /* --- GPS VALUE --- */
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));