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Increased param rate, fixed wrong usage of MAVLink chan.

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This commit is contained in:
Lorenz Meier
2014-03-12 09:46:02 +01:00
parent a37e539647
commit 76af0970f5
2 changed files with 3 additions and 4 deletions
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src/modules/mavlink/mavlink_main.cpp
+2 -3
View File
@@ -661,7 +661,7 @@ int Mavlink::mavlink_pm_send_param(param_t param)
mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
mavlink_system.compid,
MAVLINK_COMM_0,
_channel,
&tx_msg,
name_buf,
val_buf,
@@ -1561,7 +1561,6 @@ Mavlink::task_main(int argc, char *argv[])
int ch;
_baudrate = 57600;
_datarate = 0;
_channel = MAVLINK_COMM_0;
_mode = MODE_OFFBOARD;
@@ -1776,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[])
_mavlink_param_queue_index = param_count();
MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(20000.0f / rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY / rate_mult;
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -912,7 +912,7 @@ MavlinkReceiver::receive_thread(void *arg)
_mavlink->mavlink_wpm_message_handler(&msg);
/* handle packet with parameter component */
_mavlink->mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
}
}
}