diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 21 |
1 files changed, 11 insertions, 10 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 5ac76e1cf..3102c937d 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1531,18 +1531,19 @@ Mavlink::task_main(int argc, char *argv[]) mavlink_log_info(_mavlink_fd, "[mavlink] started"); /* add default streams, intervals depend on baud rate */ -// if (_baudrate >= 230400) { -// } else if (_baudrate >= 115200) { -// } else if (_baudrate >= 57600) { -// } + float rate_mult = _baudrate / 57600.0f; + if (rate_mult > 4.0f) { + rate_mult = 4.0f; + } add_stream("HEARTBEAT", 1.0f); - add_stream("SYS_STATUS", 1.0f); - add_stream("HIGHRES_IMU", 1.0f); - add_stream("ATTITUDE", 10.0f); - add_stream("GPS_RAW_INT", 1.0f); - add_stream("GLOBAL_POSITION_INT", 5.0f); - add_stream("LOCAL_POSITION_NED", 5.0f); + add_stream("SYS_STATUS", 1.0f * rate_mult); + add_stream("GPS_GLOBAL_ORIGIN", 0.5f * rate_mult); + add_stream("HIGHRES_IMU", 1.0f * rate_mult); + add_stream("ATTITUDE", 10.0f * rate_mult); + add_stream("GPS_RAW_INT", 1.0f * rate_mult); + add_stream("GLOBAL_POSITION_INT", 5.0f * rate_mult); + add_stream("LOCAL_POSITION_NED", 5.0f * rate_mult); while (!_task_should_exit) { /* main loop */ |