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mavlink, rc.usb: increase HIL_CONTROLS rate and datarate on USB to allow HIL simulation @ 200Hz

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This commit is contained in:
Anton Babushkin
2014-07-31 17:30:00 +02:00
parent 8dc165b50e
commit 7f293be7d7
2 changed files with 3 additions and 3 deletions
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ROMFS/px4fmu_common/init.d/rc.usb
+1 -1
View File
@@ -3,7 +3,7 @@
# USB MAVLink start
#
mavlink start -r 10000 -d /dev/ttyACM0 -x
mavlink start -r 20000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
usleep 100000
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -90,7 +90,7 @@
static const int ERROR = -1;
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 10000 // max data rate in bytes/s
#define MAX_DATA_RATE 20000 // max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate
#define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN
@@ -694,7 +694,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
/* enable HIL */
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
configure_stream("HIL_CONTROLS", 150.0f);
configure_stream("HIL_CONTROLS", 200.0f);
}
/* disable HIL */