From dce067df833b2ed4b9eed8aba48ccf9c31db176d Mon Sep 17 00:00:00 2001
From: Steve Nogar <stephen.m.nogar.civ@mail.mil>
Date: Thu, 14 Oct 2021 16:51:10 -0400
Subject: [PATCH] add configurable rtps rate parameter

---
 .../microRTPS_client_main.cpp                 | 12 ++++++++-
 .../micrortps_client/module.yaml              | 25 +++++++++++++++++--
 2 files changed, 34 insertions(+), 3 deletions(-)

diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
index e5a5af2a1c..1ff41c4682 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
@@ -122,7 +122,17 @@ static int parse_options(int argc, char *argv[])
 				break;
 			}
 
-		case 'm': _options.datarate        = strtoul(myoptarg, nullptr, 10);    break;
+		case 'm': {
+				int datarate = 0;
+
+				if (px4_get_parameter_value(myoptarg, datarate) != 0) {
+					PX4_ERR("datarate parsing failed");
+				}
+
+				_options.datarate = datarate;
+
+				break;
+			}
 
 		case 'p': _options.poll_ms         = strtoul(myoptarg, nullptr, 10);    break;
 
diff --git a/src/modules/micrortps_bridge/micrortps_client/module.yaml b/src/modules/micrortps_bridge/micrortps_client/module.yaml
index 608c0c31e6..10049eac32 100644
--- a/src/modules/micrortps_bridge/micrortps_client/module.yaml
+++ b/src/modules/micrortps_bridge/micrortps_client/module.yaml
@@ -3,15 +3,36 @@ serial_config:
     - command: |
         protocol_splitter start ${SERIAL_DEV}
         mavlink start -d /dev/mavlink -b p:${BAUD_PARAM} -m onboard -r 5000 -x
-        micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -l -1
+        micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -m p:RTPS_RATE -l -1
       port_config_param:
         name: RTPS_MAV_CONFIG
         group: RTPS
       label: MAVLink + FastRTPS
     - command: |
-        micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -l -1
+        micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -m p:RTPS_RATE -l -1
       port_config_param:
         name: RTPS_CONFIG
         group: RTPS
       label: FastRTPS
 
+parameters:
+    - group: RTPS
+      definitions:
+        RTPS_RATE: 
+            description:
+                short: Maximum RTPS data rate
+                long: |
+                    Configure the maximum sending rate for the RTPS streams in Bytes/sec.
+                    If the configured streams exceed the maximum rate, the sending rate of
+                    each stream is automatically decreased.
+
+                    0 is unlimited. Note this can cause reliability issues
+                    if enough RTPS topics are selected that exceed the
+                    serial bus limit.
+
+            type: int32
+            min: 0
+            unit: B/s
+            reboot_required: true
+            default: 0
+