MAVLink: Reduce default link data rates

ROMFS/px4fmu_common/init.d/10020_3dr_quad

@@ -0,0 +1,37 @@
+#!nsh
+#
+# @name 3DR Iris Quadrotor
+#
+# @type Quadrotor Wide
+#
+# @maintainer Anton Babushkin <anton@px4.io>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.05
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 2.5
+	param set MC_YAWRATE_P 0.25
+	param set MC_YAWRATE_I 0.25
+	param set MC_YAWRATE_D 0.0
+
+	param set BAT_V_SCALING 0.00989
+	param set BAT_C_SCALING 0.0124
+fi
+
+set MIXER quad_x
+
+set PWM_OUT 1234
+
+set PWM_MIN 1100
+set PWM_MAX 1950

ROMFS/px4fmu_common/init.d/rcS

@@ -457,13 +457,13 @@ then
 		if [ $TTYS1_BUSY == yes ]
 		then
 			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-			set MAVLINK_F "-r 5000 -d /dev/ttyS0"
+			set MAVLINK_F "-r 1200 -d /dev/ttyS0"
 
 			# Exit from nsh to free port for mavlink
 			set EXIT_ON_END yes
 		else
 			# Start MAVLink on default port: ttyS1
-			set MAVLINK_F "-r 5000"
+			set MAVLINK_F "-r 1200"
 		fi
 	fi