> output rate is only 0.5 HZ
Are you using qgroundcontrol to view this? And are you connecting via a telemetry radio?
If yes, then I saw a similar problem. You might try connecting qgroundcontrol via wifi (udp or tcp) and see if you get different results. (expect around 10hz)
I was able to get better radio telemetry performance by changing how mavlink gets initialized on the flight controller (rebuilt firmware and re-flashed)
In this file:
change this line:
set MAVLINK_F "-r 1200 -d /dev/ttyS3"
set MAVLINK_F "-d /dev/ttyS3 -b 57600 -r 2880 -m onboard"
Alternatively, you could update the stream rate directly in the code for the desired mode....
See file: /Firmware/src/modules/mavlink/mavlink_main.cpp
and look for:
Hope that helps.
Thanks a lot for your reply!
but I can not find the file: /Firmware on my drone. In addition, I flash my FC referring to this::Intel Aero Drone - Altitude and Position Hold Using PX4Flow: 11 Steps (with Pictures), and then all the output rate(see from qgroundcontrol) has been limited including HIGH IMU , ALTITUDE and so on. Do you know why?
>I can not find the file: /Firmware on my drone
Sorry I was not clear. I downloaded the source code and re-built the flight controller firmware on a desktop linux system (Ubuntu).
Here's How I got the source, how I build it, and how I update or re-flash the drone...
Get the source...
git clone https://github.com/PX4/Firmware.git
Here's how I build it...
The previous step creates the following file:
Then I copy that to the drone (via wifi), I shell into the drone and update the firmware. For me, that looks like this:
scp ~/px4/Firmware/build/nuttx_aerofc-v1_default/aerofc-v1_default.px4 root@YOUR_DRONE_IP:/etc/px4-fw/aerofc-v1_default.px4
shell into the drone...
The update procedure is flaky, so you might have to try that last step a few times if it appears to be stuck in a loop for more than a minute.
I'm not an expert. I'm still trying to get my head around this stuff, but that's what works for me.
>output rate(see from qgroundcontrol) has been limited
Might be related to the band width of your connection in qgroundcontrol.