change rates for mavlink streams

1 files changed, 28 insertions, 17 deletions

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index dd830071d..69565e3ab 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1328,7 +1328,7 @@ Mavlink::task_main(int argc, char *argv[])
 		 * make space for two messages plus off-by-one space as we use the empty element
 		 * marker ring buffer approach.
 		 */
-		if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
+		if (OK != message_buffer_init(10 * sizeof(mavlink_message_t) + 1)) {
 			errx(1, "can't allocate message buffer, exiting");
 		}
 
@@ -1374,39 +1374,50 @@ 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);
-		configure_stream("ATTITUDE", 15.0f);
-		configure_stream("VFR_HUD", 8.0f);
+		configure_stream("ATTITUDE", 4.0f);
+		configure_stream("VFR_HUD", 4.0f);
 		configure_stream("GPS_RAW_INT", 1.0f);
-		configure_stream("GLOBAL_POSITION_INT", 3.0f);
-		configure_stream("LOCAL_POSITION_NED", 3.0f);
+		configure_stream("GLOBAL_POSITION_INT", 1.0f);
+		configure_stream("LOCAL_POSITION_NED", 1.0f);
 		configure_stream("RC_CHANNELS_RAW", 1.0f);
-		configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
-		configure_stream("ATTITUDE_TARGET", 15.0f);
+		configure_stream("POSITION_TARGET_GLOBAL_INT", 1.0f);
+		configure_stream("ATTITUDE_TARGET", 1.0f);
 		configure_stream("DISTANCE_SENSOR", 0.5f);
-		configure_stream("OPTICAL_FLOW", 20.0f);
+		//configure_stream("OPTICAL_FLOW", 20.0f);
 		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);
 		configure_stream("GLOBAL_POSITION_INT", 50.0f);
 		configure_stream("CAMERA_CAPTURE", 2.0f);
-		configure_stream("ATTITUDE_TARGET", 50.0f);
-		configure_stream("POSITION_TARGET_GLOBAL_INT", 20.0f);
+		configure_stream("ATTITUDE_TARGET", 10.0f);
+		configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
+		configure_stream("VFR_HUD", 10.0f);
 		break;
 
 	default: