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Various minor fixes and improvements across system

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This commit is contained in:
Lorenz Meier
2012-09-05 18:05:11 +02:00
parent 84e11a0cac
commit db6ec2d7d2
7 changed files with 89 additions and 56 deletions
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apps/mavlink/mavlink.c
+10 -9
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@@ -542,6 +542,7 @@ static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int ma
if (subs->act_1_sub) orb_set_interval(subs->act_1_sub, min_interval);
if (subs->act_2_sub) orb_set_interval(subs->act_2_sub, min_interval);
if (subs->act_3_sub) orb_set_interval(subs->act_3_sub, min_interval);
if (subs->actuators_sub) orb_set_interval(subs->actuators_sub, min_interval);
break;
case MAVLINK_MSG_ID_MANUAL_CONTROL:
/* manual_control_setpoint triggers this message */
@@ -712,7 +713,6 @@ static void *uorb_receiveloop(void *arg)
/* --- ACTUATOR CONTROL VALUE --- */
/* subscribe to ORB for actuator control */
subs->actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
orb_set_interval(subs->actuators_sub, 2000); /* 0.5 Hz updates */
fds[fdsc_count].fd = subs->actuators_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -1518,23 +1518,24 @@ int mavlink_thread_main(int argc, char *argv[])
/* all subscriptions are now active, set up initial guess about rate limits */
if (baudrate >= 921600) {
/* 500 Hz / 2 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 2);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 2);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 2);
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
/* 5 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
} else if (baudrate >= 460800) {
/* 250 Hz / 4 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 5);
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
/* 100 Hz / 10 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 10);
/* 66 Hz / 15 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 15);
/* 20 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
} else if (baudrate >= 115200) {