mavlink: more precise message streams timing

src/modules/mavlink/mavlink_main.cpp

@@ -1462,8 +1462,8 @@ MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic)
 int
 Mavlink::configure_stream(const char *stream_name, const float rate)
 {
-	/* calculate interval in ms, 0 means disabled stream */
+	/* calculate interval in us, 0 means disabled stream */
-	unsigned int interval = (rate > 0.0f) ? (1000.0f / rate) : 0;
+	unsigned int interval = (rate > 0.0f) ? (1000000.0f / rate) : 0;
 
 	/* search if stream exists */
 	MavlinkStream *stream;
@@ -1752,8 +1752,8 @@ Mavlink::task_main(int argc, char *argv[])
 	/* don't send parameters on startup without request */
 	_mavlink_param_queue_index = param_count();
 
-	MavlinkRateLimiter slow_rate_limiter(2000.0f / rate_mult);
+	MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
-	MavlinkRateLimiter fast_rate_limiter(100.0f / rate_mult);
+	MavlinkRateLimiter fast_rate_limiter(100000.0f / 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_rate_limiter.cpp

@@ -44,7 +44,7 @@ MavlinkRateLimiter::MavlinkRateLimiter() : _last_sent(0), _interval(1000000)
 {
 }
 
-MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval * 1000)
+MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval)
 {
 }
 
@@ -55,7 +55,7 @@ MavlinkRateLimiter::~MavlinkRateLimiter()
 void
 MavlinkRateLimiter::set_interval(unsigned int interval)
 {
-	_interval = interval * 1000;
+	_interval = interval;
 }
 
 bool

src/modules/mavlink/mavlink_stream.cpp

@@ -57,7 +57,7 @@ MavlinkStream::~MavlinkStream()
 void
 MavlinkStream::set_interval(const unsigned int interval)
 {
-	_interval = interval * 1000;
+	_interval = interval;
 }
 
 /**