MAVLink transmission: Allow faster overall transmissions.

ROMFS/px4fmu_common/init.d/rc.usb

@@ -3,7 +3,7 @@
 # USB MAVLink start
 #
 
-mavlink start -r 30000 -d /dev/ttyACM0 -x
+mavlink start -r 80000 -d /dev/ttyACM0 -x
 # Enable a number of interesting streams we want via USB
 mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
 mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -664,7 +664,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=2048
+CONFIG_CDCACM_TXBUFSIZE=4096
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

src/modules/mavlink/mavlink_main.cpp

@@ -90,7 +90,7 @@
 static const int ERROR = -1;
 
 #define DEFAULT_DEVICE_NAME			"/dev/ttyS1"
-#define MAX_DATA_RATE				60000	///< max data rate in bytes/s
+#define MAX_DATA_RATE				1000000	///< max data rate in bytes/s
 #define MAIN_LOOP_DELAY 			10000	///< 100 Hz @ 1000 bytes/s data rate
 #define FLOW_CONTROL_DISABLE_THRESHOLD		40	///< picked so that some messages still would fit it.
 
@@ -990,7 +990,7 @@ void
 Mavlink::adjust_stream_rates(const float multiplier)
 {
 	/* do not allow to push us to zero */
-	if (multiplier < 0.01f) {
+	if (multiplier < 0.0005f) {
 		return;
 	}
 
@@ -1001,9 +1001,9 @@ Mavlink::adjust_stream_rates(const float multiplier)
 		unsigned interval = stream->get_interval();
 		interval /= multiplier;
 
-		/* allow max ~600 Hz */
+		/* allow max ~2000 Hz */
 		if (interval < 1600) {
-			interval = 1600;
+			interval = 500;
 		}
 
 		/* set new interval */
@@ -1375,7 +1375,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 	/* MAVLINK_FTP stream */
 	_mavlink_ftp = (MavlinkFTP *) MavlinkFTP::new_instance(this);
-	_mavlink_ftp->set_interval(interval_from_rate(120.0f));
+	_mavlink_ftp->set_interval(interval_from_rate(1000.0f));
 	LL_APPEND(_streams, _mavlink_ftp);
 	
 	/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
@@ -1425,7 +1425,7 @@ Mavlink::task_main(int argc, char *argv[])
 	}
 
 	/* set main loop delay depending on data rate to minimize CPU overhead */
-	_main_loop_delay = MAIN_LOOP_DELAY * 1000 / _datarate;
+	_main_loop_delay = (MAIN_LOOP_DELAY * 1000) / _datarate;
 
 	/* now the instance is fully initialized and we can bump the instance count */
 	LL_APPEND(_mavlink_instances, this);