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https://github.com/ArduPilot/ardupilot.git
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86 lines
4.3 KiB
Lua
86 lines
4.3 KiB
Lua
-- This script is an example of manipulating the message stream rates
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--
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-- It will periodically run and adjust all the messages to their desired loop rates
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-- It can be modified to only run once, however some GCS's will manipulate the rates
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-- during the initial connection, so by resetting them periodically we ensure we get
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-- the expected telemetry rate
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
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local loop_time = 5000 -- number of ms between runs
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-- mavlink message ids
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local AHRS_ID = uint32_t(163)
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local AHRS2_ID = uint32_t(178)
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local BATTERY_STATUS_ID = uint32_t(147)
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local ATTITUDE_ID = uint32_t(30)
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local DISTANCE_SENSOR_ID = uint32_t(132)
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local EKF_STATUS_REPORT_ID = uint32_t(193)
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local GLOBAL_POSITION_INT_ID = uint32_t(33)
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local GPS_RAW_INT_ID = uint32_t(24)
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--local LOCAL_POSITION_NED_ID = uint32_t(32)
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local NAV_CONTROLLER_OUTPUT_ID = uint32_t(62)
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local POWER_STATUS_ID = uint32_t(125)
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--local RAW_IMU_ID = uint32_t(27)
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--local RC_CHANNELS_ID = uint32_t(65)
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local SERVO_OUTPUT_RAW_ID = uint32_t(36)
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local SYS_STATUS_ID = uint32_t(1)
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--local SYSTEM_TIME_ID = uint32_t(2)
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local TERRAIN_REPORT_ID = uint32_t(136)
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local TERRAIN_REQUEST_ID = uint32_t(133)
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local VFR_HUD_ID = uint32_t(74)
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local VIBRATION_ID = uint32_t(241)
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--local WIND_ID = uint32_t(168)
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local CAMERA_THERMAL_RANGE_ID = uint32_t(277)
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-- serial port number
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-- e.g. SERIAL3 is 3
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-- NET_P2 is 22
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-- CAN_D2_UC_S3 is 53
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-- see https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_SerialManager/AP_SerialManager_config.h#L67
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local serial_port = 0
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-- intervals is a table which contains a table for each entry we want to adjust
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-- each entry is arranged as {the serial link to adjust, the mavlink message ID, and the broadcast interval in Hz}
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local intervals = {{serial_port, ATTITUDE_ID, 2.0}, -- ATTITUDE, 2Hz
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{serial_port, AHRS_ID, 2.0}, -- AHRS, 2Hz
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{serial_port, AHRS2_ID, 0}, -- AHRS2, 0hz
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{serial_port, BATTERY_STATUS_ID, 1}, -- BATTERY_STATUS_ID, 1hz
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{serial_port, DISTANCE_SENSOR_ID, 1}, -- DISTANCE_SENSOR_ID, 1hz
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{serial_port, EKF_STATUS_REPORT_ID, 1}, -- EKF_STATUS_REPORT, 1hz
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{serial_port, GLOBAL_POSITION_INT_ID, 1}, -- GLOBAL_POSITION_INT_ID, 1hz
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{serial_port, GPS_RAW_INT_ID, 1}, -- GPS_RAW_INT_ID, 1hz
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{serial_port, NAV_CONTROLLER_OUTPUT_ID, 1}, -- NAV_CONTROLLER_OUTPUT_ID, 1hz
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{serial_port, POWER_STATUS_ID, 1}, -- POWER_STATUS_ID, 1hz
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{serial_port, SERVO_OUTPUT_RAW_ID, 1}, -- SERVO_OUTPUT_RAW_ID, 1hz
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{serial_port, SYS_STATUS_ID, 1}, -- SYS_STATUS_ID, 1hz
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{serial_port, TERRAIN_REPORT_ID, 1}, -- TERRAIN_REPORT_ID, 1hz
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{serial_port, TERRAIN_REQUEST_ID, 1}, -- TERRAIN_REQUEST_ID, 1hz
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{serial_port, VFR_HUD_ID, 1}, -- VFR_HUD_ID, 1hz
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{serial_port, VIBRATION_ID, 1}, -- VIBRATION_ID, 1hz
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{serial_port, CAMERA_THERMAL_RANGE_ID, 1}, -- CAMERA_THERMAL_RANGE_ID, 1hz
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}
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-- print welcome message
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gcs:send_text(MAV_SEVERITY.INFO, "Loaded message_interval.lua")
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function update() -- this is the loop which periodically runs
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for i = 1, #intervals do -- we want to iterate over every specified interval
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local port_num, message, interval_hz = table.unpack(intervals[i]) -- this extracts the port_num, MAVLink ID, and interval
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-- Lua checks get the unpacked types wrong, these are the correct types
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---@cast port_num integer
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---@cast message uint32_t_ud
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---@cast interval_hz number
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local interval_us = -1
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if interval_hz > 0 then
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interval_us = math.floor(1000000 / interval_hz) -- convert the interval to microseconds
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end
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gcs:set_message_interval(port_num, message, interval_us) -- actually sets the interval as appropriate
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end
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return update, loop_time -- reschedules the loop
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end
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return update() -- run immediately before starting to reschedule
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