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https://github.com/ArduPilot/ardupilot.git
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da676fd438
Despite the implications of the example and the `MAVLINK_COMM_NUM_BUFFERS` limit in the description, the actual first argument to this function is the serial port number. Correct the argument range to allow any possible port number (no need to limit as the list is sparse) and enhance the example to give more port numbers.
67 lines
2.9 KiB
Lua
67 lines
2.9 KiB
Lua
-- This script is an example of manipulating the message stream rates
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--
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-- It will periodically run and adjust all the messages to their desired loop rates
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-- It can be modified to only run once, however some GCS's will manipulate the rates
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-- during the initial connection, so by resetting them periodically we ensure we get
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-- the expected telemetry rate
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
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local loop_time = 5000 -- number of ms between runs
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-- mavlink message ids
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local AHRS_ID = uint32_t(163)
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local AHRS2_ID = uint32_t(178)
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local ATTITUDE_ID = uint32_t(30)
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--local EKF_STATUS_REPORT_ID = uint32_t(193)
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--local GLOBAL_POSITION_INT_ID = uint32_t(33)
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--local GPS_RAW_INT_ID = uint32_t(24)
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--local LOCAL_POSITION_NED_ID = uint32_t(32)
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--local NAV_CONTROLLER_OUTPUT_ID = uint32_t(62)
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--local POWER_STATUS_ID = uint32_t(125)
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--local RAW_IMU_ID = uint32_t(27)
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--local RC_CHANNELS_ID = uint32_t(65)
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--local SERVO_OUTPUT_RAW_ID = uint32_t(36)
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--local SYS_STATUS_ID = uint32_t(1)
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--local SYSTEM_TIME_ID = uint32_t(2)
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--local VFR_HUD_ID = uint32_t(74)
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--local VIBRATION_ID = uint32_t(241)
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--local WIND_ID = uint32_t(168)
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-- serial port number
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-- e.g. SERIAL3 is 3
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-- NET_P2 is 22
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-- CAN_D2_UC_S3 is 53
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-- see https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_SerialManager/AP_SerialManager_config.h#L67
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local serial_port = 0
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-- intervals is a table which contains a table for each entry we want to adjust
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-- each entry is arranged as {the serial link to adjust, the mavlink message ID, and the broadcast interval in Hz}
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local intervals = {{serial_port, ATTITUDE_ID, 2.0}, -- ATTITUDE, 2Hz
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{serial_port, AHRS_ID, 5.0}, -- AHRS, 5Hz
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{serial_port, AHRS2_ID, 0}, -- AHRS2, 0hz
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}
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-- print welcome message
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gcs:send_text(MAV_SEVERITY.INFO, "Loaded message_interval.lua")
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function update() -- this is the loop which periodically runs
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for i = 1, #intervals do -- we want to iterate over every specified interval
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local port_num, message, interval_hz = table.unpack(intervals[i]) -- this extracts the port_num, MAVLink ID, and interval
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-- Lua checks get the unpacked types wrong, these are the correct types
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---@cast port_num integer
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---@cast message uint32_t_ud
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---@cast interval_hz number
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local interval_us = -1
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if interval_hz > 0 then
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interval_us = math.floor(1000000 / interval_hz) -- convert the interval to microseconds
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end
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gcs:set_message_interval(port_num, message, interval_us) -- actually sets the interval as appropriate
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end
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return update, loop_time -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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