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Copter: Update descriptions of stream rate parameters

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-01-05 18:40:02 +01:00 committed by Francisco Ferreira
parent ab9e88299f
commit 712fbfe84b
1 changed files with 11 additions and 11 deletions
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22
ArduCopter/GCS_Mavlink.cpp
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@ -627,7 +627,7 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_PRESSURE, and SENSOR_OFFSETS to ground station
// @Description: Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
@ -636,7 +636,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: EXT_STAT
// @DisplayName: Extended status stream rate to ground station
// @Description: Stream rate of SYS_STATUS, MEMINFO, MISSION_CURRENT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and LIMITS_STATUS to ground station
// @Description: Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
@ -663,7 +663,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: POSITION
// @DisplayName: Position stream rate to ground station
// @Description: Stream rate of GLOBAL_POSITION_INT to ground station
// @Description: Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
@ -672,7 +672,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: EXTRA1
// @DisplayName: Extra data type 1 stream rate to ground station
// @Description: Stream rate of ATTITUDE and SIMSTATE (SITL only) to ground station
// @Description: Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
@ -690,7 +690,7 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] = {
// @Param: EXTRA3
// @DisplayName: Extra data type 3 stream rate to ground station
// @Description: Stream rate of AHRS, HWSTATUS, and SYSTEM_TIME to ground station
// @Description: Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
// @Units: Hz
// @Range: 0 10
// @Increment: 1
@ -750,16 +750,16 @@ GCS_MAVLINK_Copter::data_stream_send(void)
}
if (stream_trigger(STREAM_RAW_SENSORS)) {
send_message(MSG_RAW_IMU1);
send_message(MSG_RAW_IMU2);
send_message(MSG_RAW_IMU3);
send_message(MSG_RAW_IMU1); // RAW_IMU, SCALED_IMU2, SCALED_IMU3
send_message(MSG_RAW_IMU2); // SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3
send_message(MSG_RAW_IMU3); // SENSOR_OFFSETS
}
if (copter.gcs_out_of_time) return;
if (stream_trigger(STREAM_EXTENDED_STATUS)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
send_message(MSG_EXTENDED_STATUS1); // SYS_STATUS, POWER_STATUS
send_message(MSG_EXTENDED_STATUS2); // MEMINFO
send_message(MSG_CURRENT_WAYPOINT);
send_message(MSG_GPS_RAW);
send_message(MSG_NAV_CONTROLLER_OUTPUT);
@ -790,7 +790,7 @@ GCS_MAVLINK_Copter::data_stream_send(void)
if (stream_trigger(STREAM_EXTRA1)) {
send_message(MSG_ATTITUDE);
send_message(MSG_SIMSTATE);
send_message(MSG_SIMSTATE); // SIMSTATE, AHRS2
send_message(MSG_PID_TUNING);
}