Pr new vision mav mode #12279
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Pr new vision mav mode #12279
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LorenzMeier
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Jun 15, 2019
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Nice! |
TSC21
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Jun 15, 2019
src/modules/mavlink/mavlink_main.cpp
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| configure_stream_local("LOCAL_POSITION_NED", 30.0f); | ||
| configure_stream_local("NAMED_VALUE_FLOAT", 1.0f); | ||
| configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f); | ||
| configure_stream_local("ODOMETRY", 3.0f); |
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3hz ends up being short for systems dependent of the covariances given by this msg.
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Ok so what do you think is a reasonable value? And should this be in the extended mode or in the minimal ext vision mode?
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I set this to 30Hz as in the onboard mode
dagar
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Jun 15, 2019
dagar
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Jun 15, 2019
dagar
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Jun 15, 2019
This was referenced Jun 16, 2019
dagar
previously approved these changes
Jun 28, 2019
increase max value for SYS_AUTOSTART parameter from 99999 to 9999999 fix MAVLINK_MODE_EXTVISIONMIN mode and add fallthrough comment Signed-off-by: DanielePettenuzzo <[email protected]>
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@dagar squashed and rebased |
Much appreciated! |
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We've been having many issues on the serial link connecting the Pixhawk 4 to a companion computer. It seems that even if we raise the baudrate to 1.5Mb/s there is not enough bandwidth to use the onboard or extvision modes together with log streaming. Since the onboard mode basically contains any possible mavlink stream, we actually use a small percentage of these for external vision. This pr divides the ext vision mode into two modes, a basic one (extvisionmin) for avoidance and then a normal extvision mode that adds the imu stream that should only be necessary for other applications such as VIO. With this new mavlink mode we were able to reduce the baudrate to 921600 and now we hardly have any drops when running both the mavlink streams and the log streaming on the telem port to the companion.