From 9276dc5abdb58803954df8a4042bd9a3c2bb1784 Mon Sep 17 00:00:00 2001
From: dawr68 <43827522+dawr68@users.noreply.github.com>
Date: Wed, 22 Oct 2025 14:55:51 +0200
Subject: [PATCH] feat: add attitude and odometry pub rates limits (#25792)

---
 src/modules/uxrce_dds_client/dds_topics.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index 7cc39d199c..dc6cc1f2cf 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -62,6 +62,7 @@ publications:
 
   - topic: /fmu/out/vehicle_attitude
     type: px4_msgs::msg::VehicleAttitude
+    rate_limit: 50.
 
   - topic: /fmu/out/vehicle_control_mode
     type: px4_msgs::msg::VehicleControlMode
@@ -84,6 +85,7 @@ publications:
 
   - topic: /fmu/out/vehicle_odometry
     type: px4_msgs::msg::VehicleOdometry
+    rate_limit: 100.
 
   - topic: /fmu/out/vehicle_status
     type: px4_msgs::msg::VehicleStatus