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Plane: run SENSOR_OFFSETS message at 1/10 of the requested rate 

this message wastes bandwidth, as the values change very slowly
This commit is contained in:
Andrew Tridgell 2013-09-21 09:35:45 +10:00
parent b52b6ce121
commit 36466e91ed
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/GCS_Mavlink.pde
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@ -434,6 +434,14 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
static void NOINLINE send_raw_imu3(mavlink_channel_t chan) static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
{ {
// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
static uint8_t counter;
if (counter++ < 10) {
return;
}
counter = 0;
Vector3f mag_offsets = compass.get_offsets(); Vector3f mag_offsets = compass.get_offsets();
Vector3f accel_offsets = ins.get_accel_offsets(); Vector3f accel_offsets = ins.get_accel_offsets();
Vector3f gyro_offsets = ins.get_gyro_offsets(); Vector3f gyro_offsets = ins.get_gyro_offsets();