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MAVLink: Switch to HOME_POSITION message

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This commit is contained in:
Lorenz Meier
2015-09-27 18:06:53 +02:00
parent 5c52efece4
commit afb68cb0ab
3 changed files with 40 additions and 14 deletions
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6
src/modules/mavlink/mavlink_main.cpp
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@@ -1637,7 +1637,7 @@ Mavlink::task_main(int argc, char *argv[])
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("HIGHRES_IMU", 2.0f);
configure_stream("ATTITUDE", 20.0f);
configure_stream("VFR_HUD", 8.0f);
@@ -1661,6 +1661,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
@@ -1683,6 +1684,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("VFR_HUD", 5.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 10.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("BATTERY_STATUS", 1.0f);
configure_stream("SYSTEM_TIME", 1.0f);
@@ -1694,7 +1696,7 @@ Mavlink::task_main(int argc, char *argv[])
case MAVLINK_MODE_CONFIG:
// Enable a number of interesting streams we want via USB
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("GLOBAL_POSITION_INT", 10.0f);
configure_stream("ATTITUDE_TARGET", 8.0f);
configure_stream("PARAM_VALUE", 300.0f);