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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-05 09:45:25 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-05 09:45:25 +0100 |
| commit | ec43e7b7be69e4445c08ff8821de700e449a8f70 (patch) | |
| tree | c7264d529026f88f72fc70dad5ad4d193f02cad9 /apps | |
| parent | 7fbad5adea0a022d71d8c5c4453cda1244e154b3 (diff) | |
| download | px4-firmware-ec43e7b7be69e4445c08ff8821de700e449a8f70.tar.gz px4-firmware-ec43e7b7be69e4445c08ff8821de700e449a8f70.tar.bz2 px4-firmware-ec43e7b7be69e4445c08ff8821de700e449a8f70.zip | |
Increased output rates at 115200 baud
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/mavlink/mavlink.c | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 7d8232b3a..9b2cfcbba 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -589,16 +589,15 @@ int mavlink_thread_main(int argc, char *argv[]) /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); } else if (baudrate >= 115200) { - /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200); /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); - /* 10 Hz / 100 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); + 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 */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); - /* 1 Hz */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); } else if (baudrate >= 57600) { /* 10 Hz / 100 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); |