Param MAV_ULOG_MAX_RT for ulog rate control

tiiuae · Jan 25, 2024 · e4e0960 · e4e0960
1 parent 0357a57
commit e4e0960
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
@@ -494,7 +494,7 @@ class Mavlink final : public ModuleParams
 	{
 		if (_mavlink_ulog) { return; }
 
-		_mavlink_ulog = MavlinkULog::try_start(_datarate, 0.7f, target_system, target_component);
+		_mavlink_ulog = MavlinkULog::try_start(_datarate, _param_mav_ulog_max_rate.get(), target_system, target_component);
 	}
 
 	const events::SendProtocol &get_events_protocol() const { return _events; };
@@ -675,6 +675,7 @@ class Mavlink final : public ModuleParams
 		(ParamBool<px4::params::MAV_HASH_CHK_EN>) _param_mav_hash_chk_en,
 		(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
 		(ParamInt<px4::params::MAV_RADIO_TOUT>)      _param_mav_radio_timeout,
+		(ParamFloat<px4::params::MAV_ULOG_MAX_RT>) _param_mav_ulog_max_rate,
 		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
 		(ParamBool<px4::params::SYS_FAILURE_EN>) _param_sys_failure_injection_enabled
 	)

diff --git a/src/modules/mavlink/mavlink_params.c b/src/modules/mavlink/mavlink_params.c
@@ -155,3 +155,12 @@ PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1);
  * @max 250
  */
 PARAM_DEFINE_INT32(MAV_RADIO_TOUT, 5);
+
+/**
+ * Maximum rate in msg/100ms for ULog streaming
+ *
+  * @group MAVLink
+  * @min 0.0
+  * @max 1.0
+ */
+PARAM_DEFINE_FLOAT(MAV_ULOG_MAX_RT, 0.5f);