From 17355baa830ee68fe19010c181597243629299de Mon Sep 17 00:00:00 2001
From: stefanlynka <stefanlynka@yahoo.ca>
Date: Mon, 13 Jun 2016 10:44:56 +0900
Subject: [PATCH] Tracker: Added parameter for mavlink update rate

---
 AntennaTracker/GCS_Mavlink.cpp | 4 ++--
 AntennaTracker/Parameters.cpp  | 9 +++++++++
 AntennaTracker/Parameters.h    | 2 ++
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 4d0a8ff92e..ab1cc4c59d 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -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
             }
         }
diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 2adfab40f8..f5ad8713c7 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -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_
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index e232d70531..4c30ec6c2f 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -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;