mavlink: Added MAV_{i}_HL_FREQ parameter

src/modules/mavlink/mavlink_main.cpp

@@ -2037,15 +2037,17 @@ Mavlink::task_main(int argc, char *argv[])
 				if (px4_get_parameter_value(myoptarg, freq) != 0) {
 					PX4_ERR("iridium mode frequency parsing failed");
 					err_flag = true;
-				}
-				else {
-					if (freq >= 0) {
+
+				} else {
+					if (freq >= 0.f) {
 						_high_latency_freq = freq;
+
 					} else {
 						PX4_ERR("Invalid value for iridium mode frequency.");
 						err_flag = true;
 					}
 				}
+
 				break;
 			}
 
@@ -2922,9 +2924,11 @@ Mavlink::display_status()
 	       _ftp_on ? "YES" : "NO",
 	       _transmitting_enabled ? "YES" : "NO");
 	printf("\tmode: %s\n", mavlink_mode_str(_mode));
+
 	if (_mode == MAVLINK_MODE_IRIDIUM) {
 		printf("\t    iridium tx freq: %.3f\n", (double)(_high_latency_freq));
 	}
+
 	printf("\tForwarding: %s\n", get_forwarding_on() ? "On" : "Off");
 	printf("\tMAVLink version: %" PRId32 "\n", _protocol_version);
 

src/modules/mavlink/module.yaml

@@ -32,6 +32,10 @@ serial_config:
         then
             set MAV_ARGS "${MAV_ARGS} -z"
         fi
+        if param compare MAV_${i}_MODE 6
+        then
+            set MAV_ARGS "${MAV_ARGS} -F p:MAV_${i}_HL_FREQ"
+        fi
         mavlink start ${MAV_ARGS} -x
       port_config_param:
         name: MAV_${i}_CONFIG
@@ -178,3 +182,22 @@ parameters:
             num_instances: *max_num_config_instances
             default: [2, 2, 2]
             reboot_required: true
+
+        MAV_${i}_HL_FREQ:
+            description:
+                short: Configures the frequency of HIGH_LATENCY2 stream for instance ${i}
+                long: |
+                    Positive real value that configures the transmission frequency of the
+                    HIGH_LATENCY2 stream for instance ${i}, configured in iridium mode.
+                    This parameter has no effect if the instance mode is different from iridium.
+
+            type: float
+            decimal: 3
+            increment: 0.001
+            unit: Hz
+            min: 0.0
+            max: 50.0
+            num_instances: *max_num_config_instances
+            default: [0.015, 0.015, 0.015]
+            reboot_required: true
+