Tracker: Added parameter for mavlink update rate

AntennaTracker/GCS_Mavlink.cpp

@@ -508,7 +508,7 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
                     msg->sysid,
                     msg->compid,
                     MAV_DATA_STREAM_POSITION,
-                    1,  // 1hz
+                    g.mavlink_update_rate,  // 1hz
                     1); // start streaming
             }
             // request air pressure
@@ -518,7 +518,7 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
                     msg->sysid,
                     msg->compid,
                     MAV_DATA_STREAM_RAW_SENSORS,
-                    1,  // 1hz
+                    g.mavlink_update_rate,  // 1hz
                     1); // start streaming
             }
         }

AntennaTracker/Parameters.cpp

@@ -221,6 +221,15 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(alt_source,				"ALT_SOURCE",	0),
 
+    // @Param: MAV_UPDATE_RATE
+    // @DisplayName: Mavlink Update Rate
+    // @Description: The rate at which Mavlink updates position and baro data
+    // @Units: hertz
+    // @Increment: 1
+    // @Range: 1 10
+    // @User: Standard
+    GSCALAR(mavlink_update_rate,	"MAV_UPDATE_RATE",	1),
+
     // barometer ground calibration. The GND_ prefix is chosen for
     // compatibility with previous releases of ArduPlane
     // @Group: GND_

AntennaTracker/Parameters.h

@@ -100,6 +100,7 @@ public:
         k_param_serial_manager,     // serial manager library
         k_param_servo_yaw_type,
         k_param_alt_source,
+        k_param_mavlink_update_rate,
 
         //
         // 200 : Radio settings
@@ -138,6 +139,7 @@ public:
     AP_Int8  servo_pitch_type;
     AP_Int8  servo_yaw_type;
     AP_Int8  alt_source;
+    AP_Int8  mavlink_update_rate;
     AP_Float onoff_yaw_rate;
     AP_Float onoff_pitch_rate;
     AP_Float onoff_yaw_mintime;