调整Mavlink和日志频率

src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp

@@ -54,7 +54,8 @@ TFmini_i2c::TFmini_i2c(I2CSPIBusOption bus_option, const int bus, const uint8_t
 {
 	_px4_rangefinder.set_min_distance(TFMINI_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(TFMINI_MAX_DISTANCE);
-	_px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian
+	_px4_rangefinder.set_fov(math::radians(1.15f));
+
 	// up the retries since the device misses the first measure attempts
 	_retries = 3;
 

src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.h

@@ -86,7 +86,7 @@ static constexpr int TFMINI_PEAK_STRENGTH_LOW         = 135; /* Minimum peak str
 static constexpr int TFMINI_PEAK_STRENGTH_HIGH        = 234; /* Max peak strength raw value */
 
 
-static constexpr float TFMINI_MIN_DISTANCE{0.05f};
+static constexpr float TFMINI_MIN_DISTANCE{0.2f};
 static constexpr float TFMINI_MAX_DISTANCE{12.00f};
 static constexpr float TFMINI_MAX_DISTANCE_V2{35.00f};
 

src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c_main.cpp

@@ -138,8 +138,7 @@ extern "C" __EXPORT int tfmini_i2c_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "test")) {
-		static float dist;
+		double dist= 1.1;
-		dist += 1.1;
 		printf("test dist:%.2f\n",dist);
 		return 0;
 	}

src/modules/commander/state_machine_helper.cpp

@@ -280,7 +280,7 @@ transition_result_t arming_state_transition(vehicle_status_s &status, const safe
 
 	return ret;
 }
-
+// 判断遥控器是否切换成功
 transition_result_t
 main_state_transition(const vehicle_status_s &status, const main_state_t new_main_state,
 		      const vehicle_status_flags_s &status_flags, commander_state_s &internal_state)

src/modules/logger/logged_topics.cpp

@@ -159,7 +159,7 @@ 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);
+	add_topic_multi("distance_sensor", 100);
 	add_topic_multi("optical_flow", 1000, 1);
 	add_topic_multi("sensor_accel", 1000, 4);
 	add_topic_multi("sensor_baro", 1000, 4);

src/modules/mavlink/mavlink_main.cpp

@@ -1521,7 +1521,8 @@ 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", 0.5f);
+		configure_stream_local("DISTANCE_SENSOR", 10.0f);
 		configure_stream_local("ESC_INFO", 1.0f);
 		configure_stream_local("ESC_STATUS", 1.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 0.5f);