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switch mission manager back to what is was before

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This commit is contained in:
Andreas Antener
2014-09-22 11:03:36 +10:00
parent 25b2d4b823
commit 98bc5ece10
1 changed files with 8 additions and 16 deletions
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src/modules/mavlink/mavlink_main.cpp
+8 -16
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@@ -1374,18 +1374,18 @@ Mavlink::task_main(int argc, char *argv[])
_parameters_manager->set_interval(interval_from_rate(30.0f)); _parameters_manager->set_interval(interval_from_rate(30.0f));
LL_APPEND(_streams, _parameters_manager); LL_APPEND(_streams, _parameters_manager);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) { switch (_mode) {
case MAVLINK_MODE_NORMAL: case MAVLINK_MODE_NORMAL:
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(2.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
configure_stream("SYS_STATUS", 1.0f); configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f); configure_stream("HIGHRES_IMU", 1.0f);
@@ -1402,14 +1402,6 @@ Mavlink::task_main(int argc, char *argv[])
break; break;
case MAVLINK_MODE_ONBOARD: case MAVLINK_MODE_ONBOARD:
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
configure_stream("SYS_STATUS", 1.0f); configure_stream("SYS_STATUS", 1.0f);
// XXX OBC change back: We need to be bandwidth-efficient here too // XXX OBC change back: We need to be bandwidth-efficient here too
configure_stream("ATTITUDE", 50.0f); configure_stream("ATTITUDE", 50.0f);