diff options
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 34596320f..4738d1ea7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1382,28 +1382,25 @@ 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", 4.0f); - configure_stream("VFR_HUD", 4.0f); + configure_stream("ATTITUDE", 10.0f); + configure_stream("VFR_HUD", 8.0f); configure_stream("GPS_RAW_INT", 1.0f); - configure_stream("GLOBAL_POSITION_INT", 1.0f); - configure_stream("LOCAL_POSITION_NED", 1.0f); + configure_stream("GLOBAL_POSITION_INT", 3.0f); + configure_stream("LOCAL_POSITION_NED", 3.0f); configure_stream("RC_CHANNELS_RAW", 1.0f); - configure_stream("POSITION_TARGET_GLOBAL_INT", 1.0f); - configure_stream("ATTITUDE_TARGET", 1.0f); + configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); + configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); - //configure_stream("OPTICAL_FLOW", 20.0f); + configure_stream("OPTICAL_FLOW", 5.0f); break; case MAVLINK_MODE_ONBOARD: 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); |