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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-31 17:30:00 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-31 17:30:00 +0200 |
| commit | 7f293be7d77603768899aedb438821dd19b8b4d7 (patch) | |
| tree | 84cda484082b4f6a55dacf95b426521ed24b68f9 | |
| parent | 8dc165b50efca2d9e86f23296a33f38f16c241e0 (diff) | |
| download | px4-firmware-7f293be7d77603768899aedb438821dd19b8b4d7.tar.gz px4-firmware-7f293be7d77603768899aedb438821dd19b8b4d7.tar.bz2 px4-firmware-7f293be7d77603768899aedb438821dd19b8b4d7.zip | |
mavlink, rc.usb: increase HIL_CONTROLS rate and datarate on USB to allow HIL simulation @ 200Hz
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 4 |
2 files changed, 3 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index eb6039b4c..f1c21f295 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -3,7 +3,7 @@ # USB MAVLink start # -mavlink start -r 10000 -d /dev/ttyACM0 -x +mavlink start -r 20000 -d /dev/ttyACM0 -x # Enable a number of interesting streams we want via USB mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200 usleep 100000 diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 5589738c1..9a39d3bed 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -90,7 +90,7 @@ static const int ERROR = -1; #define DEFAULT_DEVICE_NAME "/dev/ttyS1" -#define MAX_DATA_RATE 10000 // max data rate in bytes/s +#define MAX_DATA_RATE 20000 // max data rate in bytes/s #define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate #define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN @@ -694,7 +694,7 @@ Mavlink::set_hil_enabled(bool hil_enabled) /* enable HIL */ if (hil_enabled && !_hil_enabled) { _hil_enabled = true; - configure_stream("HIL_CONTROLS", 150.0f); + configure_stream("HIL_CONTROLS", 200.0f); } /* disable HIL */ |