v5x: use low bandwidth mavlink mode

This changes the default mavlink message set from onboard to
onboard_low_bandwidth, which drastically reduces the bandwidth required to get a
usable connection.

boards/px4/fmu-v5x/init/rc.board_mavlink

@@ -6,7 +6,7 @@
 if ver hwtypecmp V5Xa0 V5X91 V5Xa1
 then
 # Start MAVLink on the UART connected to the mission computer
-mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard -x -z
+mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
 else
 # Start MAVLink on the USB port
 mavlink start -d /dev/ttyACM0

src/modules/mavlink/mavlink_main.cpp

@@ -1778,6 +1778,54 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 
 		break;
 
+	case MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH:
+		// Note: streams requiring low latency come first
+		configure_stream_local("TIMESYNC", 10.0f);
+		configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
+		configure_stream_local("LOCAL_POSITION_NED", 30.0f);
+		configure_stream_local("ATTITUDE", 20.0f);
+		configure_stream_local("ALTITUDE", 10.0f);
+		configure_stream_local("DISTANCE_SENSOR", 10.0f);
+		configure_stream_local("MOUNT_ORIENTATION", 10.0f);
+		configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
+		configure_stream_local("ODOMETRY", 30.0f);
+		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
+		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
+		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
+
+		configure_stream_local("ADSB_VEHICLE", unlimited_rate);
+		configure_stream_local("ATTITUDE_TARGET", 2.0f);
+		configure_stream_local("BATTERY_STATUS", 0.5f);
+		configure_stream_local("COLLISION", unlimited_rate);
+		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
+		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
+		configure_stream_local("GPS2_RAW", unlimited_rate);
+		configure_stream_local("GPS_RAW_INT", unlimited_rate);
+		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
+		configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
+		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
+		configure_stream_local("PING", 0.1f);
+		configure_stream_local("POSITION_TARGET_GLOBAL_INT", 1.5f);
+		configure_stream_local("POSITION_TARGET_LOCAL_NED", 1.5f);
+		configure_stream_local("RC_CHANNELS", 5.0f);
+		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
+		configure_stream_local("SYS_STATUS", 5.0f);
+		configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
+		configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
+		configure_stream_local("VFR_HUD", 4.0f);
+		configure_stream_local("VIBRATION", 0.5f);
+		configure_stream_local("WIND_COV", 1.0f);
+
+#if !defined(CONSTRAINED_FLASH)
+		configure_stream_local("DEBUG", 1.0f);
+		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
+		configure_stream_local("DEBUG_VECT", 1.0f);
+		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+#endif // !CONSTRAINED_FLASH
+		break;
+
 	default:
 		ret = -1;
 		break;
@@ -1988,6 +2036,9 @@ Mavlink::task_main(int argc, char *argv[])
 					} else if (strcmp(myoptarg, "gimbal") == 0) {
 						_mode = MAVLINK_MODE_GIMBAL;
 
+					} else if (strcmp(myoptarg, "onboard_low_bandwidth") == 0) {
+						_mode = MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH;
+
 					} else {
 						PX4_ERR("invalid mode");
 						err_flag = true;

src/modules/mavlink/mavlink_main.h

@@ -192,6 +192,7 @@ public:
 		MAVLINK_MODE_EXTVISION,
 		MAVLINK_MODE_EXTVISIONMIN,
 		MAVLINK_MODE_GIMBAL,
+		MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH,
 		MAVLINK_MODE_COUNT
 	};
 
@@ -243,6 +244,9 @@ public:
 		case MAVLINK_MODE_GIMBAL:
 			return "Gimbal";
 
+		case MAVLINK_MODE_ONBOARD_LOW_BANDWIDTH:
+			return "OnboardLowBandwidth";
+
 		default:
 			return "Unknown";
 		}

src/modules/mavlink/module.yaml

@@ -59,6 +59,7 @@ parameters:
                 8: External Vision
                 #9: External Vision Minimal # hidden
                 10: Gimbal
+                11: Onboard Low Bandwidth
             reboot_required: true
             num_instances: *max_num_config_instances
             default: [0, 2, 0]