Increasing stream rate of sensor data

jwalser · July 14, 2016, 4:52am

Stream rates are limited in ArduSub to 50Hz max:

bluerobotics/ardusub/blob/master/libraries/GCS_MAVLink/GCS_Common.cpp#L698


      
          
          
if (msg->msgid == MAVLINK_MSG_ID_MISSION_ITEM) {      
              mavlink_mission_item_t packet;    
              mavlink_msg_mission_item_decode(msg, &packet);
              
              // convert mavlink packet to mission command
              result = AP_Mission::mavlink_to_mission_cmd(packet, cmd);
              if (result != MAV_MISSION_ACCEPTED) {
                  goto mission_ack;
              }
              
              seq = packet.seq;
              current = packet.current;
          } else {
              mavlink_mission_item_int_t packet;
              mavlink_msg_mission_item_int_decode(msg, &packet);
              
              // convert mavlink packet to mission command
              result = AP_Mission::mavlink_int_to_mission_cmd(packet, cmd);
              if (result != MAV_MISSION_ACCEPTED) {
                  goto mission_ack;

10Hz is the suggested maximum stream rate, if you go above this you may experience weird/undefined behavior due to the increased time spent transmitting messages.

If you connect to qgc, you can change the stream rates to more than 10Hz by looking at the SR parameters and clicking force save (you will get a message that 10 is the maximum).

If you can’t adjust in mavros to more than 10, I suspect that mavros is limiting it internally.

If you are using mavproxy, the stream rates will revert to mavproxy’s configured stream rates, regardless of what you change them to:

github.com

ArduPilot/MAVProxy/blob/master/MAVProxy/mavproxy.py#L722


      
          
          
if mpstate.status.setup_mode:
              # in setup mode we send strings straight to the master
              if line == '.':
                  mpstate.status.setup_mode = False
                  mpstate.status.flightmode = "MAV"
                  mpstate.rl.set_prompt("MAV> ")
                  return
              if line != '+++':
                  line += '\r'
              for c in line:
                  time.sleep(0.01)
                  if sys.version_info.major >= 3:
                      mpstate.master().write(bytes(c, "ascii"))
                  else:
                      mpstate.master().write(c)
              return
          
          
if not line:
              return

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