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Lowering default rates at 57600

This commit is contained in:
Lorenz Meier 2012-10-17 18:27:21 +02:00
parent 2d631fb005
commit 6a48b91bea
2 changed files with 5 additions and 5 deletions
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6
apps/mavlink/mavlink.c
View File

@ -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 */

4
apps/mavlink/orb_listener.c
View File

@ -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));