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revert some of the OBC rate changes

This commit is contained in:
Thomas Gubler 2014-10-07 10:12:56 +02:00
parent ba2f55c3d7
commit c7f7de352d
1 changed files with 7 additions and 10 deletions
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17
src/modules/mavlink/mavlink_main.cpp
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@ -1382,28 +1382,25 @@ Mavlink::task_main(int argc, char *argv[])
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f);
configure_stream("ATTITUDE", 4.0f);
configure_stream("VFR_HUD", 4.0f);
configure_stream("ATTITUDE", 10.0f);
configure_stream("VFR_HUD", 8.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 1.0f);
configure_stream("LOCAL_POSITION_NED", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 1.0f);
configure_stream("ATTITUDE_TARGET", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
//configure_stream("OPTICAL_FLOW", 20.0f);
configure_stream("OPTICAL_FLOW", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
configure_stream("SYS_STATUS", 1.0f);
// XXX OBC change back: We need to be bandwidth-efficient here too
configure_stream("ATTITUDE", 50.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);