From aaf2a23f18eb802c9fea1e45199106eefbab59f3 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 20 Aug 2012 12:38:45 +0200 Subject: Reduced optimistic send rates, better mag scaling --- apps/mavlink/mavlink.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'apps/mavlink') diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index b667269ed..7fba65cb7 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1318,17 +1318,17 @@ int mavlink_thread_main(int argc, char *argv[]) /* all subscriptions are now active, set up initial guess about rate limits */ if (baudrate >= 921600) { - /* set no limit */ /* 500 Hz / 2 ms */ - //set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2); + set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 2); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 2); } else if (baudrate >= 460800) { /* 250 Hz / 4 ms */ - set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 4); - set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 4); + set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 5); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 5); } else if (baudrate >= 115200) { /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 20); - set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 20); + set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 50); + set_mavlink_interval_limit(MAVLINK_MSG_ID_ATTITUDE, 50); } else if (baudrate >= 57600) { /* 10 Hz / 100 ms */ set_mavlink_interval_limit(MAVLINK_MSG_ID_SCALED_IMU, 100); -- cgit v1.2.3