Set stream rate for a specific message

ArduCopter Copter 3.5
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1

Is it possible to set the stream rate for a specific mavlink message? i.e. I would like to send the attitude message to a companion computer faster than 10 Hz. Is that possible?

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would like to send the attitude message to a companion computer faster than
10 Hz. Is that possible?

Only by increasing the streamrate that contains that message.
e.g. SR2_EXTRA1

I have support for SET_MESSAGE_INTERVAL in train at the moment. It is
some time off yet, however.

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Hi Peter,
Thanks for replying–I was experimenting and send a request_data_stream message to request MAV_DATA_STREAM_EXTRA1 stream at 50Hz. It seems to do the trick–I guess I’m also curious from a cpu sort of view if the autopilot (pixhawk v2) can handle streaming it a 50Hz or if that will cause timing issues. So far it seems like it can no problem. Is setting the SR2_EXTRA1 param the same as sending the request_data_stream message?

Thanks,
Jason

4

take a look at ardupilot\modules\mavlink\pymavlink\tools\mavtelemetry_datarates.py
To get a feeling for the link load,
And yes, 12,5Hz, 25Hz and 50Hz are possible.

5

Thanks for replying–I was experimenting and send a request_data_stream
message to request MAV_DATA_STREAM_EXTRA1 stream at 50Hz. It seems to do the
trick–I guess I’m also curious from a cpu sort of view if the autopilot
(pixhawk v2) can handle streaming it a 50Hz or if that will cause timing
issues. So far it seems like it can no problem. Is setting the SR2_EXTRA1
param the same as sending the request_data_stream message?

You can set the SCHED_DEBUG parameter to see if causes you issues;
depeneding on what else your drone is going it may or may not be a
problem. Probably not.

Jason

Peter

6

Hi Peter,
the support for SET_MESSAGE_INTERVAL its really usefull for a lot of scenarios, how is the integration going on?
Have you the possibility to compile the actual copter firmware with this integration and we use it as beta tester?

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