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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-05 18:05:11 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-05 18:05:11 +0200 |
| commit | db6ec2d7d2c8f206208f6bd3b6534422fd80eaef (patch) | |
| tree | 0b6a1da0db43a55b27675f5d4824b048bfd3dfec /apps/mavlink/mavlink.c | |
| parent | 84e11a0cac53f753f65b0bea4659e1f2d9c0b35e (diff) | |
| download | px4-firmware-db6ec2d7d2c8f206208f6bd3b6534422fd80eaef.tar.gz px4-firmware-db6ec2d7d2c8f206208f6bd3b6534422fd80eaef.tar.bz2 px4-firmware-db6ec2d7d2c8f206208f6bd3b6534422fd80eaef.zip | |
Various minor fixes and improvements across system
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 19 |
1 files changed, 10 insertions, 9 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 0d9be58e9..1d71b4019 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -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) { |