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Tracker: Added parameter for mavlink update rate

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This commit is contained in:
stefanlynka 2016-06-13 10:44:56 +09:00 committed by Randy Mackay
parent 8036912173
commit 17355baa83
3 changed files with 13 additions and 2 deletions
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4
AntennaTracker/GCS_Mavlink.cpp
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@ -508,7 +508,7 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
msg->sysid,
msg->compid,
MAV_DATA_STREAM_POSITION,
1, // 1hz
g.mavlink_update_rate, // 1hz
1); // start streaming
}
// request air pressure
@ -518,7 +518,7 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
msg->sysid,
msg->compid,
MAV_DATA_STREAM_RAW_SENSORS,
1, // 1hz
g.mavlink_update_rate, // 1hz
1); // start streaming
}
}

9
AntennaTracker/Parameters.cpp
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@ -221,6 +221,15 @@ const AP_Param::Info Tracker::var_info[] = {
// @User: Standard
GSCALAR(alt_source, "ALT_SOURCE", 0),
// @Param: MAV_UPDATE_RATE
// @DisplayName: Mavlink Update Rate
// @Description: The rate at which Mavlink updates position and baro data
// @Units: hertz
// @Increment: 1
// @Range: 1 10
// @User: Standard
GSCALAR(mavlink_update_rate, "MAV_UPDATE_RATE", 1),
// barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane
// @Group: GND_

2
AntennaTracker/Parameters.h
View File

@ -100,6 +100,7 @@ public:
k_param_serial_manager, // serial manager library
k_param_servo_yaw_type,
k_param_alt_source,
k_param_mavlink_update_rate,
//
// 200 : Radio settings
@ -138,6 +139,7 @@ public:
AP_Int8 servo_pitch_type;
AP_Int8 servo_yaw_type;
AP_Int8 alt_source;
AP_Int8 mavlink_update_rate;
AP_Float onoff_yaw_rate;
AP_Float onoff_pitch_rate;
AP_Float onoff_yaw_mintime;