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MavlinkParametersManager: update sending rate 

This is an adjustment due to the changed calling frequency of send()
(was 300 Hz, is now 100 Hz)
This commit is contained in:
Beat Küng 2017-05-12 14:37:30 +02:00 committed by Lorenz Meier
parent cfa61c5841
commit a89980f440
1 changed files with 9 additions and 5 deletions
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14
src/modules/mavlink/mavlink_parameters.cpp
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@ -314,15 +314,19 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
void
MavlinkParametersManager::send(const hrt_abstime t)
{
int max_num_to_send;
if (_mavlink->get_protocol() == SERIAL && !_mavlink->is_usb_uart()) {
send_one();
max_num_to_send = 3;
} else {
// speed up parameter loading via UDP, TCP or USB: try to send 5 at once
int i = 0;
while (i++ < 5 && send_one());
// speed up parameter loading via UDP, TCP or USB: try to send 15 at once
max_num_to_send = 5 * 3;
}
int i = 0;
while (i++ < max_num_to_send && send_one());
}