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mavlink: GPS_GLOBAL_ORIGIN on by default, but only send on change or when requested

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Daniel Agar
2021-02-25 12:43:30 -05:00
parent 8db37225d6
commit a63e25f581
2 changed files with 62 additions and 40 deletions
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src/modules/mavlink/mavlink_main.cpp
+4
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@@ -1522,6 +1522,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
configure_stream_local("GPS2_RAW", 1.0f);
configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f);
configure_stream_local("GPS_RAW_INT", 1.0f);
configure_stream_local("GPS_STATUS", 1.0f);
configure_stream_local("HOME_POSITION", 0.5f);
@@ -1581,6 +1582,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
configure_stream_local("GPS2_RAW", unlimited_rate);
configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
configure_stream_local("GPS_RAW_INT", unlimited_rate);
configure_stream_local("GPS_STATUS", 1.0f);
configure_stream_local("HOME_POSITION", 0.5f);
@@ -1642,6 +1644,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
configure_stream_local("GPS2_RAW", 1.0f);
configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
configure_stream_local("GPS_RAW_INT", 1.0f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
@@ -1719,6 +1722,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
configure_stream_local("GPS2_RAW", unlimited_rate);
configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
configure_stream_local("GPS_RAW_INT", unlimited_rate);
configure_stream_local("GPS_STATUS", 1.0f);
configure_stream_local("HIGHRES_IMU", 50.0f);