forked from Archive/PX4-Autopilot
switch mission manager back to what is was before
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25b2d4b823
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98bc5ece10
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@ -1374,18 +1374,18 @@ Mavlink::task_main(int argc, char *argv[])
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_parameters_manager->set_interval(interval_from_rate(30.0f));
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LL_APPEND(_streams, _parameters_manager);
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/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
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* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
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* mission messages. */
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_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
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_mission_manager->set_interval(interval_from_rate(10.0f));
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_mission_manager->set_verbose(_verbose);
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LL_APPEND(_streams, _mission_manager);
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switch (_mode) {
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case MAVLINK_MODE_NORMAL:
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/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
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* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
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* mission messages. */
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_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
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_mission_manager->set_interval(interval_from_rate(2.0f));
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_mission_manager->set_verbose(_verbose);
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LL_APPEND(_streams, _mission_manager);
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configure_stream("SYS_STATUS", 1.0f);
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configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
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configure_stream("HIGHRES_IMU", 1.0f);
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@ -1402,14 +1402,6 @@ Mavlink::task_main(int argc, char *argv[])
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break;
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case MAVLINK_MODE_ONBOARD:
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/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
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* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
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* mission messages. */
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_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
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_mission_manager->set_interval(interval_from_rate(10.0f));
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_mission_manager->set_verbose(_verbose);
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LL_APPEND(_streams, _mission_manager);
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configure_stream("SYS_STATUS", 1.0f);
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// XXX OBC change back: We need to be bandwidth-efficient here too
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configure_stream("ATTITUDE", 50.0f);
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