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| author | Andreas Antener <antener_a@gmx.ch> | 2014-09-22 11:03:36 +1000 |
|---|---|---|
| committer | Andreas Antener <antener_a@gmx.ch> | 2014-09-22 11:03:36 +1000 |
| commit | 98bc5ece10987c177be5035cfca6ecea841b8843 (patch) | |
| tree | 421321a08fc902ba2e6704b26821b83b86c7917b /src/modules/mavlink/mavlink_main.cpp | |
| parent | 25b2d4b823d339c69365baecc7b9eada37e0a529 (diff) | |
| download | px4-firmware-98bc5ece10987c177be5035cfca6ecea841b8843.tar.gz px4-firmware-98bc5ece10987c177be5035cfca6ecea841b8843.tar.bz2 px4-firmware-98bc5ece10987c177be5035cfca6ecea841b8843.zip | |
switch mission manager back to what is was before
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 24 |
1 files changed, 8 insertions, 16 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 69565e3ab..114b4678b 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1374,18 +1374,18 @@ Mavlink::task_main(int argc, char *argv[]) _parameters_manager->set_interval(interval_from_rate(30.0f)); LL_APPEND(_streams, _parameters_manager); + /* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on + * remote requests rate. Rate specified here controls how much bandwidth we will reserve for + * mission messages. */ + _mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this); + _mission_manager->set_interval(interval_from_rate(10.0f)); + _mission_manager->set_verbose(_verbose); + LL_APPEND(_streams, _mission_manager); + switch (_mode) { case MAVLINK_MODE_NORMAL: - /* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on - * remote requests rate. Rate specified here controls how much bandwidth we will reserve for - * mission messages. */ - _mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this); - _mission_manager->set_interval(interval_from_rate(2.0f)); - _mission_manager->set_verbose(_verbose); - LL_APPEND(_streams, _mission_manager); - configure_stream("SYS_STATUS", 1.0f); configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); configure_stream("HIGHRES_IMU", 1.0f); @@ -1402,14 +1402,6 @@ Mavlink::task_main(int argc, char *argv[]) break; case MAVLINK_MODE_ONBOARD: - /* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on - * remote requests rate. Rate specified here controls how much bandwidth we will reserve for - * mission messages. */ - _mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this); - _mission_manager->set_interval(interval_from_rate(10.0f)); - _mission_manager->set_verbose(_verbose); - LL_APPEND(_streams, _mission_manager); - configure_stream("SYS_STATUS", 1.0f); // XXX OBC change back: We need to be bandwidth-efficient here too configure_stream("ATTITUDE", 50.0f); |