From 7f066a910a2778e446e18506e636560e956dcd31 Mon Sep 17 00:00:00 2001 From: Zebulon Date: Mon, 30 May 2022 23:54:55 +0800 Subject: [PATCH] distance_sensor : adjust the frequency of mavlink and log to 5Hz --- src/modules/logger/logged_topics.cpp | 2 +- src/modules/mavlink/mavlink_main.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 01d5cbe406..8e5b3e68ab 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -174,7 +174,7 @@ void LoggedTopics::add_default_topics() // log all raw sensors at minimal rate (at least 1 Hz) add_topic_multi("battery_status", 200, 2); add_topic_multi("differential_pressure", 1000, 2); - add_topic_multi("distance_sensor", 1000, 2); + add_topic_multi("distance_sensor", 200, 2); add_optional_topic_multi("sensor_accel", 1000, 4); add_optional_topic_multi("sensor_baro", 1000, 4); add_topic_multi("sensor_gps", 1000, 2); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 6a84072445..154201aa1b 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1494,7 +1494,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) configure_stream_local("BATTERY_STATUS", 0.5f); configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate); configure_stream_local("COLLISION", unlimited_rate); - configure_stream_local("DISTANCE_SENSOR", 0.5f); + configure_stream_local("DISTANCE_SENSOR", 5.0f); configure_stream_local("EFI_STATUS", 2.0f); configure_stream_local("ESC_INFO", 1.0f); configure_stream_local("ESC_STATUS", 1.0f);