Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 03:49:12 +08:00
Code Issues Actions 6 Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.usb
+1 -1
View File
@@ -3,7 +3,7 @@
# USB MAVLink start # 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 # 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 PARAM_VALUE -r 200
usleep 100000 usleep 100000
src/modules/mavlink/mavlink_main.cpp
+2 -2
View File
@@ -90,7 +90,7 @@
static const int ERROR = -1; static const int ERROR = -1;
#define DEFAULT_DEVICE_NAME "/dev/ttyS1" #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 MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate
#define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN #define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN
@@ -694,7 +694,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
/* enable HIL */ /* enable HIL */
if (hil_enabled && !_hil_enabled) { if (hil_enabled && !_hil_enabled) {
_hil_enabled = true; _hil_enabled = true;
configure_stream("HIL_CONTROLS", 150.0f); configure_stream("HIL_CONTROLS", 200.0f);
} }
/* disable HIL */ /* disable HIL */