mirror of https://github.com/ArduPilot/ardupilot
24 lines
1.2 KiB
Lua
24 lines
1.2 KiB
Lua
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-- This script is an example of manipulating the message stream rates
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--
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-- It will periodically run and adjust all the messages to their desired loop rates
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-- It can be modified to only run once, however some GCS's will manipulate the rates
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-- during the initial connection, so by resetting them periodically we ensure we get
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-- the expected telemetry rate
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-- intervals is a table which contains a table for each entry we want to adjust
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-- each entry is arranged as {the serial link to adjust, the mavlink message ID, and the broadcast interval in Hz}
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local intervals = {{0, uint32_t(30), 2.0}, -- First serial, ATTITUDE, 2Hz
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{0, uint32_t(163), 5.0}} -- First serial, AHRS, 5Hz
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local loop_time = 5000 -- number of ms between runs
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function update() -- this is the loop which periodically runs
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for i = 1, #intervals do -- we want to iterate over every specified interval
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local channel, message, interval_hz = table.unpack(intervals[i]) -- this extracts the channel, MAVLink ID, and interval
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gcs:set_message_interval(channel, message, math.floor(1000000 / interval_hz)) -- actually sets the interval as appropriate
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end
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return update, loop_time -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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