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Merge remote-tracking branch 'swissfang/master' into sbasdisable

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This commit is contained in:
Julian Oes
2014-09-23 06:09:57 +10:00
parent 69eb222d4e d9bb3a5112
commit ca542902c5
2 changed files with 14 additions and 13 deletions
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src/modules/mavlink/mavlink_main.cpp
+14 -11
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@@ -1328,7 +1328,7 @@ Mavlink::task_main(int argc, char *argv[])
* make space for two messages plus off-by-one space as we use the empty element
* marker ring buffer approach.
*/
if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
if (OK != message_buffer_init(10 * sizeof(mavlink_message_t) + 1)) {
errx(1, "can't allocate message buffer, exiting");
}
@@ -1382,21 +1382,23 @@ Mavlink::task_main(int argc, char *argv[])
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f);
configure_stream("ATTITUDE", 15.0f);
configure_stream("VFR_HUD", 8.0f);
configure_stream("ATTITUDE", 4.0f);
configure_stream("VFR_HUD", 4.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("GLOBAL_POSITION_INT", 1.0f);
configure_stream("LOCAL_POSITION_NED", 1.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 15.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 1.0f);
configure_stream("ATTITUDE_TARGET", 1.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 20.0f);
//configure_stream("OPTICAL_FLOW", 20.0f);
break;
case MAVLINK_MODE_ONBOARD:
@@ -1405,8 +1407,9 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("ATTITUDE", 50.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
configure_stream("ATTITUDE_TARGET", 50.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 20.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("VFR_HUD", 10.0f);
break;
default:
@@ -1627,7 +1630,7 @@ Mavlink::start(int argc, char *argv[])
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2700,
5000,
(main_t)&Mavlink::start_helper,
(const char **)argv);