调整log和Mavlink频率

src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp

@@ -39,6 +39,7 @@
 #include <float.h>
 #include <mathlib/mathlib.h>
 #include <ecl/geo/geo.h>
+#include <drivers/drv_hrt.h>
 
 using namespace matrix;
 
@@ -376,5 +377,13 @@ bool FlightTaskManualAltitude::update()
 	_updateSetpoints();
 	_constraints.want_takeoff = _checkTakeoff();
 
+	static uint64_t delay_1s = hrt_absolute_time();
+	static uint64_t delt_time;
+	if (hrt_absolute_time() - delay_1s > 1 * 1000000ULL)
+	{
+		printf("update,delt:%dms \n",(hrt_absolute_time() - delt_time)/(1 * 1000ULL) );
+        delay_1s = hrt_absolute_time();
+	}
+    	delt_time = hrt_absolute_time();
 	return ret;
 }

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);