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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 09:46:02 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 09:46:02 +0100 |
| commit | 76af0970f5220d3a842c4daa353a45ef51df1082 (patch) | |
| tree | 86de5d8bcfc7e1c637c4c8c96c96c84013ee0f44 /src/modules/mavlink/mavlink_main.cpp | |
| parent | a37e539647df2b3cfd335b33e4d186c4d39316b6 (diff) | |
| download | px4-firmware-76af0970f5220d3a842c4daa353a45ef51df1082.tar.gz px4-firmware-76af0970f5220d3a842c4daa353a45ef51df1082.tar.bz2 px4-firmware-76af0970f5220d3a842c4daa353a45ef51df1082.zip | |
Increased param rate, fixed wrong usage of MAVLink chan.
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 667580452..1044984bf 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -661,7 +661,7 @@ int Mavlink::mavlink_pm_send_param(param_t param) mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, - MAVLINK_COMM_0, + _channel, &tx_msg, name_buf, val_buf, @@ -1561,7 +1561,6 @@ Mavlink::task_main(int argc, char *argv[]) int ch; _baudrate = 57600; _datarate = 0; - _channel = MAVLINK_COMM_0; _mode = MODE_OFFBOARD; @@ -1776,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[]) _mavlink_param_queue_index = param_count(); MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); - MavlinkRateLimiter fast_rate_limiter(100000.0f / rate_mult); + MavlinkRateLimiter fast_rate_limiter(20000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; |