From 76af0970f5220d3a842c4daa353a45ef51df1082 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 12 Mar 2014 09:46:02 +0100 Subject: Increased param rate, fixed wrong usage of MAVLink chan. --- src/modules/mavlink/mavlink_main.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) (limited to 'src/modules/mavlink/mavlink_main.cpp') 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; -- cgit v1.2.3