forked from Archive/PX4-Autopilot
Lowering default rates at 57600
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2d631fb005
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@ -576,10 +576,10 @@ int mavlink_thread_main(int argc, char *argv[])
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
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} else if (baudrate >= 57600) {
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/* 10 Hz / 100 ms */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
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/* 10 Hz / 100 ms ATTITUDE */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
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/* 5 Hz / 200 ms */
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set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
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/* 5 Hz / 200 ms */
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@ -551,12 +551,12 @@ uorb_receive_start(void)
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/* --- SENSORS RAW VALUE --- */
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mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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/* rate limit set externally based on interface speed, set a basic default here */
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orb_set_interval(mavlink_subs.sensor_sub, 100); /* 10Hz updates */
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orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */
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/* --- ATTITUDE VALUE --- */
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mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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/* rate limit set externally based on interface speed, set a basic default here */
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orb_set_interval(mavlink_subs.att_sub, 100); /* 10Hz updates */
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orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */
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/* --- GPS VALUE --- */
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mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
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