From 213cdf1a9139488f156721a72feded53d839d964 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 17 Mar 2016 11:01:45 +0000
Subject: [PATCH] mavlink: send out parameters faster over UDP

---
 src/modules/mavlink/mavlink_main.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 995f10dbc8..48b39d2b2c 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +35,7 @@
  * MAVLink 1.0 protocol implementation.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
@@ -1871,6 +1871,11 @@ Mavlink::task_main(int argc, char *argv[])
 		send_autopilot_capabilites();
 	}
 
+	/* send parameters faster over UDP */
+	if (get_protocol() == UDP) {
+		configure_stream("PARAM_VALUE", 100000.0f);
+	}
+
 	while (!_task_should_exit) {
 		/* main loop */
 		usleep(_main_loop_delay);