From 6a48b91beae575ad4684151f08c75b079caffe5c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 17 Oct 2012 18:27:21 +0200 Subject: [PATCH] Lowering default rates at 57600 --- apps/mavlink/mavlink.c | 6 +++--- apps/mavlink/orb_listener.c | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 075dc9e3b7..293bbe00c0 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -576,10 +576,10 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000); } else if (baudrate >= 57600) { /* 10 Hz / 100 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100); - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200); /* 10 Hz / 100 ms ATTITUDE */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); /* 5 Hz / 200 ms */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); /* 5 Hz / 200 ms */ diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 63a39e4ee0..c2428874fd 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -551,12 +551,12 @@ uorb_receive_start(void) /* --- SENSORS RAW VALUE --- */ mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.sensor_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.sensor_sub, 200); /* 5Hz updates */ /* --- ATTITUDE VALUE --- */ mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); /* rate limit set externally based on interface speed, set a basic default here */ - orb_set_interval(mavlink_subs.att_sub, 100); /* 10Hz updates */ + orb_set_interval(mavlink_subs.att_sub, 200); /* 5Hz updates */ /* --- GPS VALUE --- */ mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));