Access position data at higher frequency

griffin

Hey all,

I'm trying to use offboard control mode to give velocity commands to a starling 2 max and need position information at higher than 10 Hz (the default rate at which mavlink position messages are published)

Is it possible to access this information at a higher rate either by increasing the mavlink publishing rate or using MPA?

Kind regards,
Griffin

griffin

For anyone running into similar issues, here is the solution I found:

You can manually adjust the interval times of mavlink messages with the MAV_CMD_SET_MESSAGE_INTERVAL command, in this case for the LOCAL_POSITION_NED message.

Using pymavlink this can be accomplished with:

        # [...]
        self.client = mavutil.mavlink_connection(
            connection_string,
        )
        # [...]
        self.client.mav.command_long_send(
            self.client.target_system,
            self.client.target_component,
            mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
            0,  # confirmation
            32, # LOCAL_POSITION_NED
            10000, # Wait time in us
            0, 0, 0, 0, 0  # param3-7: unused
        )

Hope this helps anyone else who wants higher rate data!

griffin

edit: use mavutil.mavlink.MAVLINK_MSG_ID_LOCAL_POSITION_NED* instead of magic number 32 for message ID