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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 18:27:21 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 18:27:21 +0200 |
| commit | 6a48b91beae575ad4684151f08c75b079caffe5c (patch) | |
| tree | bfb5c167bb3d0f3b7e084a1f295f3df46aaad788 /apps/mavlink | |
| parent | 2d631fb0059cecdc429c5847e8dbede82348d129 (diff) | |
| download | px4-firmware-6a48b91beae575ad4684151f08c75b079caffe5c.tar.gz px4-firmware-6a48b91beae575ad4684151f08c75b079caffe5c.tar.bz2 px4-firmware-6a48b91beae575ad4684151f08c75b079caffe5c.zip | |
Lowering default rates at 57600
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 6 | ||||
| -rw-r--r-- | apps/mavlink/orb_listener.c | 4 |
2 files changed, 5 insertions, 5 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 075dc9e3b..293bbe00c 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -576,10 +576,10 @@ 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, 100); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200); /* 10 Hz / 100 ms ATTITUDE */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100); + 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 */ diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 63a39e4ee..c2428874f 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -551,12 +551,12 @@ uorb_receive_start(void) /* --- SENSORS RAW VALUE --- */ mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.sensor_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */ /* --- ATTITUDE VALUE --- */ mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.att_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */ /* --- GPS VALUE --- */ mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); |