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| author | Julian Oes <julian@oes.ch> | 2014-09-23 06:09:57 +1000 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-09-23 06:09:57 +1000 |
| commit | ca542902c5829a2dd8f688315646161d46b17300 (patch) | |
| tree | 87a0709684db5098743a5ba59be7627255310516 /src | |
| parent | 69eb222d4e2cf3d0894992a50a7a5822489f757f (diff) | |
| parent | d9bb3a51124cb3006f7548ac6ee629b48a939336 (diff) | |
| download | px4-firmware-ca542902c5829a2dd8f688315646161d46b17300.tar.gz px4-firmware-ca542902c5829a2dd8f688315646161d46b17300.tar.bz2 px4-firmware-ca542902c5829a2dd8f688315646161d46b17300.zip | |
Merge remote-tracking branch 'swissfang/master' into sbasdisable
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 25 |
1 files changed, 14 insertions, 11 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index dd830071d..b9f486c95 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"); } @@ -1382,21 +1382,23 @@ Mavlink::task_main(int argc, char *argv[]) _mission_manager->set_verbose(_verbose); LL_APPEND(_streams, _mission_manager); + + switch (_mode) { case MAVLINK_MODE_NORMAL: 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: @@ -1405,8 +1407,9 @@ Mavlink::task_main(int argc, char *argv[]) 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: @@ -1627,7 +1630,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2700, + 5000, (main_t)&Mavlink::start_helper, (const char **)argv); |