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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-22 16:08:48 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-22 16:08:48 +0200 |
| commit | ea36154e3975b12bf72da132e71abdbfb6f5b2bb (patch) | |
| tree | 92329af90a400c8bd74be9cfaf58a109af1b73ee /apps/mavlink/mavlink.c | |
| parent | 64c5096c9f56b4ec1c995a0129ce5088ea8be719 (diff) | |
| download | px4-firmware-ea36154e3975b12bf72da132e71abdbfb6f5b2bb.tar.gz px4-firmware-ea36154e3975b12bf72da132e71abdbfb6f5b2bb.tar.bz2 px4-firmware-ea36154e3975b12bf72da132e71abdbfb6f5b2bb.zip | |
Accomodating for offboard control setups
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 2ac803ce0..698e43f96 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -119,6 +119,7 @@ bool mavlink_hil_enabled = false; /* protocol interface */ static int uart; static int baudrate; +bool gcs_link = true; /* interface mode */ static enum { @@ -600,14 +601,14 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000); } else if (baudrate >= 57600) { /* 10 Hz / 100 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); /* 10 Hz / 100 ms ATTITUDE */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); /* 5 Hz / 200 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); /* 5 Hz / 200 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); } else { |