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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-04 16:13:17 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-04 16:13:17 +0100 |
| commit | 12f4cb2dc38303b58750a8f3b120738a291ac8d1 (patch) | |
| tree | 1ee67abcccc1ac8adee9875a4ba752f51ddca0af /apps | |
| parent | 3fd8c73bfbdad1fdb9b5b31337cf6eb3fa46c34c (diff) | |
| download | px4-firmware-12f4cb2dc38303b58750a8f3b120738a291ac8d1.tar.gz px4-firmware-12f4cb2dc38303b58750a8f3b120738a291ac8d1.tar.bz2 px4-firmware-12f4cb2dc38303b58750a8f3b120738a291ac8d1.zip | |
Tuned GPS update rates
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/mavlink/mavlink.c | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index ceb7c2554..09abcf269 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -625,7 +625,9 @@ int mavlink_thread_main(int argc, char *argv[]) /* 20 Hz / 50 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); - /* 2 Hz */ + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 100); + /* 10 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); } else if (baudrate >= 115200) { @@ -634,8 +636,10 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); - /* 5 Hz / 100 ms */ + /* 5 Hz / 200 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 200); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); @@ -651,6 +655,8 @@ int mavlink_thread_main(int argc, char *argv[]) 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); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW, 500); } else { /* very low baud rate, limit to 1 Hz / 1000 ms */ |