increase sensor rate SITL

aaumar commented 6 years ago

Issue details

Hi I am developing my own fixed wing control with offboard mode. But, i use 50 Hz as my sampling time but sensor just give me about 30 Hz. I have read some way to increase the rate with SD card but in SITL you don't use any SD card. I also have tried rosrun mavros mavsys rate --all 50 but the rate didnt increase. is there any way to increase sensor rate in SITL? thank you

MAVROS version and platform

Mavros: ?0.18.4? ROS: ?Kinetic? Ubuntu: ?16.04?

Autopilot type and version

[ ] ArduPilot [ x ] PX4

Version: ?1.7.0?

Node logs

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_url: udp://:14540@127....
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: False
 * /rosdistro: kinetic
 * /rosversion: 1.12.12

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [17624]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to eebb80ec-2e39-11e8-b749-94e9799ce369
process[rosout-1]: started with pid [17637]
started core service [/rosout]
process[mavros-2]: started with pid [17655]
[ INFO] [1521768699.414276585]: FCU URL: udp://:14540@127.0.0.1:14557
[ WARN] [1521768699.415762737]: init: message from ASLUAV, MSG-ID 201 ignored! Table has different entry.
[ WARN] [1521768699.416404404]: init: message from autoquad, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1521768699.416447728]: init: message from autoquad, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1521768699.416620907]: init: message from matrixpilot, MSG-ID 150 ignored! Table has different entry.
[ WARN] [1521768699.416638895]: init: message from matrixpilot, MSG-ID 151 ignored! Table has different entry.
[ WARN] [1521768699.416651456]: init: message from matrixpilot, MSG-ID 152 ignored! Table has different entry.
[ WARN] [1521768699.416664757]: init: message from matrixpilot, MSG-ID 153 ignored! Table has different entry.
[ WARN] [1521768699.416677502]: init: message from matrixpilot, MSG-ID 155 ignored! Table has different entry.
[ WARN] [1521768699.416691735]: init: message from matrixpilot, MSG-ID 156 ignored! Table has different entry.
[ WARN] [1521768699.416714536]: init: message from matrixpilot, MSG-ID 157 ignored! Table has different entry.
[ WARN] [1521768699.416728653]: init: message from matrixpilot, MSG-ID 158 ignored! Table has different entry.
[ WARN] [1521768699.416742651]: init: message from matrixpilot, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1521768699.416756919]: init: message from matrixpilot, MSG-ID 171 ignored! Table has different entry.
[ WARN] [1521768699.416768959]: init: message from matrixpilot, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1521768699.416781917]: init: message from matrixpilot, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1521768699.416794712]: init: message from matrixpilot, MSG-ID 174 ignored! Table has different entry.
[ WARN] [1521768699.416807986]: init: message from matrixpilot, MSG-ID 175 ignored! Table has different entry.
[ WARN] [1521768699.416825773]: init: message from matrixpilot, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1521768699.416839592]: init: message from matrixpilot, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1521768699.416853677]: init: message from matrixpilot, MSG-ID 178 ignored! Table has different entry.
[ WARN] [1521768699.416929393]: init: message from matrixpilot, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1521768699.416945698]: init: message from matrixpilot, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1521768699.416960194]: init: message from matrixpilot, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1521768699.416976626]: init: message from matrixpilot, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1521768699.416992472]: init: message from matrixpilot, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1521768699.417006932]: init: message from matrixpilot, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1521768699.417023274]: init: message from matrixpilot, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1521768699.417037998]: init: message from matrixpilot, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1521768699.417211686]: init: message from paparazzi, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1521768699.417228455]: init: message from paparazzi, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1521768699.417241502]: init: message from paparazzi, MSG-ID 182 ignored! Table has different entry.
[ WARN] [1521768699.417254687]: init: message from paparazzi, MSG-ID 183 ignored! Table has different entry.
[ WARN] [1521768699.417268577]: init: message from paparazzi, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1521768699.417738485]: init: message from slugs, MSG-ID 170 ignored! Table has different entry.
[ WARN] [1521768699.417763643]: init: message from slugs, MSG-ID 172 ignored! Table has different entry.
[ WARN] [1521768699.417777241]: init: message from slugs, MSG-ID 173 ignored! Table has different entry.
[ WARN] [1521768699.417789310]: init: message from slugs, MSG-ID 176 ignored! Table has different entry.
[ WARN] [1521768699.417801992]: init: message from slugs, MSG-ID 177 ignored! Table has different entry.
[ WARN] [1521768699.417815769]: init: message from slugs, MSG-ID 179 ignored! Table has different entry.
[ WARN] [1521768699.417827731]: init: message from slugs, MSG-ID 180 ignored! Table has different entry.
[ WARN] [1521768699.417839392]: init: message from slugs, MSG-ID 181 ignored! Table has different entry.
[ WARN] [1521768699.417856247]: init: message from slugs, MSG-ID 184 ignored! Table has different entry.
[ WARN] [1521768699.418012658]: init: message from slugs, MSG-ID 185 ignored! Table has different entry.
[ WARN] [1521768699.418037372]: init: message from slugs, MSG-ID 186 ignored! Table has different entry.
[ WARN] [1521768699.418057056]: init: message from slugs, MSG-ID 188 ignored! Table has different entry.
[ WARN] [1521768699.418094822]: init: message from slugs, MSG-ID 191 ignored! Table has different entry.
[ WARN] [1521768699.418118262]: init: message from slugs, MSG-ID 192 ignored! Table has different entry.
[ WARN] [1521768699.418143984]: init: message from slugs, MSG-ID 193 ignored! Table has different entry.
[ WARN] [1521768699.418168687]: init: message from slugs, MSG-ID 194 ignored! Table has different entry.
[ INFO] [1521768699.419006834]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1521768699.419085661]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1521768699.419333773]: GCS bridge disabled
[ INFO] [1521768699.422573484]: udp0: Remote address: 127.0.0.1:14557
[ INFO] [1521768699.436733954]: Plugin 3dr_radio loaded
[ INFO] [1521768699.439511358]: Plugin 3dr_radio initialized
[ INFO] [1521768699.439659116]: Plugin actuator_control loaded
[ INFO] [1521768699.445505439]: Plugin actuator_control initialized
[ INFO] [1521768699.448832433]: Plugin adsb loaded
[ INFO] [1521768699.456450314]: Plugin adsb initialized
[ INFO] [1521768699.456612756]: Plugin altitude loaded
[ INFO] [1521768699.458057287]: Plugin altitude initialized
[ INFO] [1521768699.458223788]: Plugin cam_imu_sync loaded
[ INFO] [1521768699.459234106]: Plugin cam_imu_sync initialized
[ INFO] [1521768699.459413212]: Plugin command loaded
[ INFO] [1521768699.469242800]: Plugin command initialized
[ INFO] [1521768699.469388253]: Plugin debug_value loaded
[ INFO] [1521768699.478614086]: Plugin debug_value initialized
[ INFO] [1521768699.478661024]: Plugin distance_sensor blacklisted
[ INFO] [1521768699.478834242]: Plugin fake_gps loaded
[ INFO] [1521768699.508891120]: Plugin fake_gps initialized
[ INFO] [1521768699.509081643]: Plugin ftp loaded
[ INFO] [1521768699.524566116]: Plugin ftp initialized
[ INFO] [1521768699.524736440]: Plugin global_position loaded
[ INFO] [1521768699.554806734]: Plugin global_position initialized
[ INFO] [1521768699.554988878]: Plugin hil loaded
[ INFO] [1521768699.581549081]: Plugin hil initialized
[ INFO] [1521768699.581989954]: Plugin home_position loaded
[ INFO] [1521768699.591664009]: Plugin home_position initialized
[ INFO] [1521768699.591856004]: Plugin imu loaded
[ INFO] [1521768699.605161848]: Plugin imu initialized
[ INFO] [1521768699.605411190]: Plugin local_position loaded
[ INFO] [1521768699.616145725]: Plugin local_position initialized
[ INFO] [1521768699.616826756]: Plugin manual_control loaded
[ INFO] [1521768699.618506086]: Plugin manual_control initialized
[ INFO] [1521768699.618827580]: Plugin mocap_pose_estimate loaded
[ INFO] [1521768699.624861207]: Plugin mocap_pose_estimate initialized
[ INFO] [1521768699.625028504]: Plugin odom loaded
[ INFO] [1521768699.633522469]: Plugin odom initialized
[ INFO] [1521768699.634224259]: Plugin param loaded
[ INFO] [1521768699.639813412]: Plugin param initialized
[ INFO] [1521768699.639974484]: Plugin px4flow loaded
[ INFO] [1521768699.647049696]: Plugin px4flow initialized
[ INFO] [1521768699.647095636]: Plugin rangefinder blacklisted
[ INFO] [1521768699.647322385]: Plugin rc_io loaded
[ INFO] [1521768699.656598299]: Plugin rc_io initialized
[ INFO] [1521768699.656635421]: Plugin safety_area blacklisted
[ INFO] [1521768699.656831612]: Plugin setpoint_accel loaded
[ INFO] [1521768699.661683491]: Plugin setpoint_accel initialized
[ INFO] [1521768699.662035562]: Plugin setpoint_attitude loaded
[ INFO] [1521768699.682265726]: Plugin setpoint_attitude initialized
[ INFO] [1521768699.682513806]: Plugin setpoint_position loaded
[ INFO] [1521768699.694740143]: Plugin setpoint_position initialized
[ INFO] [1521768699.694945473]: Plugin setpoint_raw loaded
[ INFO] [1521768699.713688453]: Plugin setpoint_raw initialized
[ INFO] [1521768699.713881029]: Plugin setpoint_velocity loaded
[ INFO] [1521768699.723746117]: Plugin setpoint_velocity initialized
[ INFO] [1521768699.724074154]: Plugin sys_status loaded
[ INFO] [1521768699.736657935]: Plugin sys_status initialized
[ INFO] [1521768699.737206766]: Plugin sys_time loaded
[ INFO] [1521768699.742288074]: TM: Timesync mode: MAVLINK
[ INFO] [1521768699.743262522]: Plugin sys_time initialized
[ INFO] [1521768699.743464513]: Plugin vfr_hud loaded
[ INFO] [1521768699.745652763]: Plugin vfr_hud initialized
[ INFO] [1521768699.745706725]: Plugin vibration blacklisted
[ INFO] [1521768699.745871177]: Plugin vision_pose_estimate loaded
[ INFO] [1521768699.761441602]: Plugin vision_pose_estimate initialized
[ INFO] [1521768699.761598786]: Plugin vision_speed_estimate loaded
[ INFO] [1521768699.768799236]: Plugin vision_speed_estimate initialized
[ INFO] [1521768699.769009423]: Plugin waypoint loaded
[ INFO] [1521768699.778900020]: Plugin waypoint initialized
[ INFO] [1521768699.779036188]: Autostarting mavlink via USB on PX4
[ INFO] [1521768699.779374676]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1521768699.779457658]: Built-in MAVLink package version: 2017.11.11
[ INFO] [1521768699.779527076]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1521768699.779591299]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1521768699.794071831]: IMU: High resolution IMU detected!
[ INFO] [1521768699.794750643]: IMU: Attitude quaternion IMU detected!
[ WARN] [1521768699.844004824]: TM: Clock skew detected (-1521768615.400521994 s). Hard syncing clocks.
[ INFO] [1521768700.540443436]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1521768700.541707331]: IMU: High resolution IMU detected!
[ INFO] [1521768700.541971097]: IMU: Attitude quaternion IMU detected!
[ INFO] [1521768701.542671555]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1521768701.542712803]: VER: 1.1: Flight software:     010700c0 (00000000251914F8)
[ INFO] [1521768701.542741933]: VER: 1.1: Middleware software: 010700c0 (00000000251914F8)
[ INFO] [1521768701.542772248]: VER: 1.1: OS software:         040d00ff (0000000000000000)
[ INFO] [1521768701.542794214]: VER: 1.1: Board hardware:      00000001
[ INFO] [1521768701.542824440]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1521768701.542860428]: VER: 1.1: UID:                 0000000100000002
[ WARN] [1521768701.543120854]: CMD: Unexpected command 520, result 0

Diagnostics

header: 
  seq: 7
  stamp: 
    secs: 1521769066
    nsecs: 420691640
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "udp://:14540@127.0.0.1:14557"
    values: 
      - 
        key: "Received packets:"
        value: "1098"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "167"
      - 
        key: "Tx sequence number:"
        value: "54"
      - 
        key: "Rx total bytes:"
        value: "44411"
      - 
        key: "Tx total bytes:"
        value: "1320"
      - 
        key: "Rx speed:"
        value: "23492.000000"
      - 
        key: "Tx speed:"
        value: "774.000000"
  - 
    level: 0
    name: "mavros: GPS"
    message: "3D fix"
    hardware_id: "udp://:14540@127.0.0.1:14557"
    values: 
      - 
        key: "Satellites visible"
        value: "10"
      - 
        key: "Fix type"
        value: "3"
      - 
        key: "EPH (m)"
        value: "0.00"
      - 
        key: "EPV (m)"
        value: "0.00"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "udp://:14540@127.0.0.1:14557"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "2"
      - 
        key: "Frequency (Hz)"
        value: "0.781854"
      - 
        key: "Vehicle type"
        value: "Fixed wing aircraft"
      - 
        key: "Autopilot type"
        value: "PX4 Autopilot"
      - 
        key: "Mode"
        value: "AUTO.LOITER"
      - 
        key: "System status"
        value: "Standby"
  - 
    level: 0
    name: "mavros: System"
    message: "Normal"
    hardware_id: "udp://:14540@127.0.0.1:14557"
    values: 
      - 
        key: "Sensor present"
        value: "0x00000000"
      - 
        key: "Sensor enabled"
        value: "0x00000000"
      - 
        key: "Sensor helth"
        value: "0x00000000"
      - 
        key: "CPU Load (%)"
        value: "0.0"
      - 
        key: "Drop rate (%)"
        value: "0.0"
      - 
        key: "Errors comm"
        value: "0"
      - 
        key: "Errors count #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "udp://:14540@127.0.0.1:14557"
    values: 
      - 
        key: "Voltage"
        value: "12.15"
      - 
        key: "Current"
        value: "-1.0"
      - 
        key: "Remaining"
        value: "100.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "udp://:14540@127.0.0.1:14557"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "3"
      - 
        key: "Frequency (Hz)"
        value: "8.885382"
      - 
        key: "Last dt (ms)"
        value: "-5.572381"
      - 
        key: "Mean dt (ms)"
        value: "-6.602043"
      - 
        key: "Last system time (s)"
        value: "434.833388000"
      - 
        key: "Time offset (s)"
        value: "1521768631.547817230"
---

Check ID

OK. I got messages from 1:1.

---
Received 5751 messages, from 1 addresses
sys:comp   list of messages
  1:1     0, 1, 2, 141, 147, 24, 30, 31, 32, 33, 42, 62, 74, 76, 83, 87, 102, 230, 231, 105, 111, 241, 242, 245

TSC21 commented 6 years ago

Check sitl_gazebo, more in specific the gazebo_mavlink_interface plugin and what parameters are used there (loaded from the SDF file). This is not a MAVROS related issue.

yc718764666 commented 6 years ago

hello aaumar @aaumar ,could you solve this problem? I have the same problem.

danielhentzen commented 6 years ago

Hi @aaumar , @yc718764666 . I came across the same question and solved it the following way:

In Firmware/posix-configs/SITL/init/ekf2/iris (pick whatever vehicle you're using in sim) you can set the streaming rate of Mavlink messages (used for the EKF, but also works for other messages that are not used in the EKF). For instance, to set a desired rate for LOCAL_POSITION_NED on udp port 14557:

mavlink stream -r 200 -s LOCAL_POSITION_NED -u 14557

Hope that helps.

Seanmatthews commented 5 years ago

@danielhentzen I no longer see that directory in the master branch of PX4. It's also not clear from searching where that should be set now. Anyone have any other tips?

adk4davsys commented 4 years ago

@danielhentzen I no longer see that directory in the master branch of PX4. It's also not clear from searching where that should be set now. Anyone have any other tips?

Hello, I don't know if you are still working on this problem but the way I changed my gazebo SITL mavlink rate is by typing: pxh> mavlink stream -r 200 -s LOCAL_POSITION_NED -u 14557 into the terminal that is running the ros node.

Hope this helps anyone still looking to increase the mavlink rate within gazebo SITL.

mavlink / mavros