From a89980f440a16352adf0b0d90f005b401e8112b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 12 May 2017 14:37:30 +0200 Subject: [PATCH] MavlinkParametersManager: update sending rate This is an adjustment due to the changed calling frequency of send() (was 300 Hz, is now 100 Hz) --- src/modules/mavlink/mavlink_parameters.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index 95b8772e28..b006f41746 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -314,15 +314,19 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) void MavlinkParametersManager::send(const hrt_abstime t) { + int max_num_to_send; + if (_mavlink->get_protocol() == SERIAL && !_mavlink->is_usb_uart()) { - send_one(); + max_num_to_send = 3; } else { - // speed up parameter loading via UDP, TCP or USB: try to send 5 at once - int i = 0; - - while (i++ < 5 && send_one()); + // speed up parameter loading via UDP, TCP or USB: try to send 15 at once + max_num_to_send = 5 * 3; } + + int i = 0; + + while (i++ < max_num_to_send && send_one()); }