Lowering default rates at 57600

apps/mavlink/mavlink.c

@@ -576,10 +576,10 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
 	} else if (baudrate >= 57600) {
 		/* 10 Hz / 100 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
 		/* 10 Hz / 100 ms ATTITUDE */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
 		/* 5 Hz / 200 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
 		/* 5 Hz / 200 ms */

apps/mavlink/orb_listener.c

@@ -551,12 +551,12 @@ uorb_receive_start(void)
 	/* --- SENSORS RAW VALUE --- */
 	mavlink_subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	/* rate limit set externally based on interface speed, set a basic default here */
-	orb_set_interval(mavlink_subs.sensor_sub, 100);	/* 10Hz updates */
+	orb_set_interval(mavlink_subs.sensor_sub, 200);	/* 5Hz updates */
 
 	/* --- ATTITUDE VALUE --- */
 	mavlink_subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	/* rate limit set externally based on interface speed, set a basic default here */
-	orb_set_interval(mavlink_subs.att_sub, 100);	/* 10Hz updates */
+	orb_set_interval(mavlink_subs.att_sub, 200);	/* 5Hz updates */
 
 	/* --- GPS VALUE --- */
 	mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));