diff options
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 5 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 |
2 files changed, 3 insertions, 4 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; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index fa63e06c5..c222a3ddf 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -912,7 +912,7 @@ MavlinkReceiver::receive_thread(void *arg) _mavlink->mavlink_wpm_message_handler(&msg); /* handle packet with parameter component */ - _mavlink->mavlink_pm_message_handler(MAVLINK_COMM_0, &msg); + _mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg); } } } |