[mavlink] fix freq of periodic messages

conf/airframes/examples/quadrotor_lisa_mx_mavlink.xml

@@ -24,7 +24,10 @@
 
     <target name="nps" board="pc">
       <subsystem name="fdm" type="jsbsim"/>
-      <configure name="MAVLINK_PORT" value="UDP0"/>
+      <configure name="MAVLINK_PORT" value="UDP1"/>
+      <define name="UDP1_PORT_OUT" value="14550"/>
+      <define name="UDP1_PORT_IN" value="14555"/>
+      <define name="MAVLINK_DEBUG" value="printf"/>
     </target>
 
     <subsystem name="radio_control" type="spektrum">

conf/modules/mavlink.xml

@@ -12,6 +12,7 @@
 
   <init fun="mavlink_init()"/>
   <periodic fun="mavlink_periodic()" freq="10" autorun="TRUE"/>
+  <periodic fun="mavlink_periodic_telemetry()" freq="$TELEMETRY_FREQUENCY" autorun="TRUE"/>
   <event fun="mavlink_event()"/>
 
   <makefile>

sw/airborne/modules/datalink/mavlink.c

@@ -133,17 +133,26 @@ void mavlink_init(void)
 }
 
 /**
- * Periodic MAVLink calls.
- * Called at MAVLINK_PERIODIC_FREQUENCY (set in module xml to 10Hz)
+ * Send periodic mavlink messages as defined in Mavlink process of telemetry xml file.
+ * Called at TELEMETRY_FREQUENCY
  */
-void mavlink_periodic(void)
+void mavlink_periodic_telemetry(void)
 {
 #if PERIODIC_TELEMETRY && defined TELEMETRY_MAVLINK_NB_MSG
   // send periodic mavlink messages as defined in the Mavlink process of the telemetry xml file
   // transport and device not used here yet...
   periodic_telemetry_send_Mavlink(&mavlink_telemetry, NULL, NULL);
-#else
-  // else use these hardcoded periods
+#endif
+}
+
+/**
+ * Periodic MAVLink calls.
+ * Called at MAVLINK_PERIODIC_FREQ (set in module xml to 10Hz)
+ */
+void mavlink_periodic(void)
+{
+#if !defined (TELEMETRY_MAVLINK_NB_MSG)
+  // use these hardcoded periods if no Mavlink process in telemetry file
   RunOnceEvery(2, mavlink_send_heartbeat(NULL, NULL));
   RunOnceEvery(5, mavlink_send_sys_status(NULL, NULL));
   RunOnceEvery(20, mavlink_send_system_time(NULL, NULL));

sw/airborne/modules/datalink/mavlink.h

@@ -71,6 +71,7 @@ extern mavlink_system_t mavlink_system;
  */
 void mavlink_init(void);
 void mavlink_periodic(void);
+void mavlink_periodic_telemetry(void);
 void mavlink_event(void);
 
 /**