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MAVLink: Start app using pre-configured streams to save some script execution overhead. Frees 1K during app startup, which should help FMUv1 considerably.

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This commit is contained in:
Lorenz Meier
2015-08-22 20:31:45 +02:00
parent 86e2e7e2a6
commit e1aaaa1f18
3 changed files with 25 additions and 19 deletions
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ROMFS/px4fmu_common/init.d/rc.usb
+1 -16
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@@ -3,22 +3,7 @@
# USB MAVLink start
#
mavlink start -r 800000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 300
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW_RAD -r 10
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30
mavlink stream -d /dev/ttyACM0 -s MANUAL_CONTROL -r 5
mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 100
mavlink stream -d /dev/ttyACM0 -s GPS_RAW_INT -r 20
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
# Exit shell to make it available to MAVLink
exit