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change rates for mavlink streams

sbg
Andreas Antener 11 years ago
parent
6a6bd09973
commit
25b2d4b823
1 changed files with 28 additions and 17 deletions
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  1. 45
      src/modules/mavlink/mavlink_main.cpp

45
src/modules/mavlink/mavlink_main.cpp
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@ -1328,7 +1328,7 @@ Mavlink::task_main(int argc, char *argv[]) @@ -1328,7 +1328,7 @@ Mavlink::task_main(int argc, char *argv[])
* make space for two messages plus off-by-one space as we use the empty element
* marker ring buffer approach.
*/
if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
if (OK != message_buffer_init(10 * sizeof(mavlink_message_t) + 1)) {
errx(1, "can't allocate message buffer, exiting");
}
@ -1374,39 +1374,50 @@ Mavlink::task_main(int argc, char *argv[]) @@ -1374,39 +1374,50 @@ Mavlink::task_main(int argc, char *argv[])
_parameters_manager->set_interval(interval_from_rate(30.0f));
LL_APPEND(_streams, _parameters_manager);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(2.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f);
configure_stream("ATTITUDE", 15.0f);
configure_stream("VFR_HUD", 8.0f);
configure_stream("ATTITUDE", 4.0f);
configure_stream("VFR_HUD", 4.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("GLOBAL_POSITION_INT", 1.0f);
configure_stream("LOCAL_POSITION_NED", 1.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 15.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 1.0f);
configure_stream("ATTITUDE_TARGET", 1.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW", 20.0f);
//configure_stream("OPTICAL_FLOW", 20.0f);
break;
case MAVLINK_MODE_ONBOARD:
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
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);
configure_stream("ATTITUDE_TARGET", 50.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 20.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("VFR_HUD", 10.0f);
break;
default:

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