From dc8caeaedfebb3b24e26d82ceccb8eaf4416b02d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 26 Jul 2017 07:24:33 +0200 Subject: [PATCH] MAVLink: Default to standard stream config --- src/modules/mavlink/mavlink_main.cpp | 25 ++++++++----------------- 1 file changed, 8 insertions(+), 17 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 43335732fd..15a7af04a0 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2006,9 +2006,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("NAMED_VALUE_FLOAT", 1.0f); configure_stream("VFR_HUD", 4.0f); configure_stream("WIND_COV", 1.0f); - // Image captured runs at full rate independent of - // any limit - configure_stream("CAMERA_IMAGE_CAPTURED", 1.0f); + configure_stream("CAMERA_IMAGE_CAPTURED", 500.0f); break; case MAVLINK_MODE_ONBOARD: @@ -2021,7 +2019,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("SERVO_OUTPUT_RAW_0", 10.0f); configure_stream("ALTITUDE", 10.0f); configure_stream("GPS_RAW_INT", 5.0f); - configure_stream("ADSB_VEHICLE", 5.0f); + configure_stream("ADSB_VEHICLE", 10.0f); configure_stream("COLLISION", 10.0f); configure_stream("DISTANCE_SENSOR", 10.0f); configure_stream("OPTICAL_FLOW_RAD", 10.0f); @@ -2040,12 +2038,9 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("SYSTEM_TIME", 1.0f); configure_stream("TIMESYNC", 10.0f); configure_stream("CAMERA_CAPTURE", 2.0f); - // Camera trigger runs at full rate independent of - // any limit - configure_stream("CAMERA_TRIGGER", 1.0f); - // Image captured runs at full rate independent of - // any limit - configure_stream("CAMERA_IMAGE_CAPTURED", 1.0f); + //camera trigger is rate limited at the source, do not limit here + configure_stream("CAMERA_TRIGGER", 500.0f); + configure_stream("CAMERA_IMAGE_CAPTURED", 5.0f); configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f); break; @@ -2082,7 +2077,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("SERVO_OUTPUT_RAW_1", 20.0f); configure_stream("ALTITUDE", 10.0f); configure_stream("GPS_RAW_INT", 10.0f); - configure_stream("ADSB_VEHICLE", 5.0f); + configure_stream("ADSB_VEHICLE", 20.0f); configure_stream("COLLISION", 20.0f); configure_stream("DISTANCE_SENSOR", 10.0f); configure_stream("OPTICAL_FLOW_RAD", 10.0f); @@ -2097,12 +2092,8 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("NAMED_VALUE_FLOAT", 50.0f); configure_stream("VFR_HUD", 20.0f); configure_stream("WIND_COV", 10.0f); - // Camera trigger runs at full rate independent of - // any limit - configure_stream("CAMERA_TRIGGER", 1.0f); - // Image captured runs at full rate independent of - // any limit - configure_stream("CAMERA_IMAGE_CAPTURED", 1.0f); + configure_stream("CAMERA_TRIGGER", 500.0f); + configure_stream("CAMERA_IMAGE_CAPTURED", 5.0f); configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f); configure_stream("MANUAL_CONTROL", 5.0f); break;