This is a topic to discuss the mavlink update rate issue reported by @kknet in this discussion.
In my test the mavlink update rates using Copter-3.6.0-NuttX is a bit slower than Copter-3.5.7 but Copter-3.6.0-ChibiOS is about the same (or slightly faster) than Copter-3.5.7.
My testing setup was a little different than @kknet’s though because I used a Pixhawk1 (which has 1 less CPU than the Cube) and I was testing on SR0 (USB connection).
I tested this by setting the telemetry rates through the MP’s Config/Tuning >> Planner page and then viewed the results using MP’s Ctrl-F >> Mavlink Inspector window.
Copter-3.5.7 results:
Copter-3.6.0-Nuttx:
Copter-3.6.0-ChibiOS:
Some things that could be eating up CPU time:
- SmartRTL : I wouldn’t expect this to eat much CPU time but it’s possible
- Cube has one extra CPU. We could try disabling the 3rd CPU somehow
Maybe @tridge or @peterbarker have some ideas…