changes for increasing frequency

ArduPilot · Feb 18, 2024 · d29cf1a · d29cf1a
1 parent b7a3ece
commit d29cf1a
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Showing 2 changed files with 1 addition and 52 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -32,7 +32,7 @@
 static constexpr uint8_t ENABLED_BY_DEFAULT = 1;
 static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
 static constexpr uint16_t DELAY_BATTERY_STATE_TOPIC_MS = 1000;
-static constexpr uint16_t DELAY_IMU_TOPIC_MS = 100;
+static constexpr uint16_t DELAY_IMU_TOPIC_MS = 5;
 static constexpr uint16_t DELAY_LOCAL_POSE_TOPIC_MS = 33;
 static constexpr uint16_t DELAY_LOCAL_VELOCITY_TOPIC_MS = 33;
 static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = 33;
@@ -1004,10 +1004,7 @@ void AP_DDS_Client::write_imu_topic()
         if (!success) {
             // TODO sometimes serialization fails on bootup. Determine why.
             // AP_HAL::panic("FATAL: DDS_Client failed to serialize\n");
-            gcs().send_text(MAV_SEVERITY_INFO,"imu data not serialized");
         }
-        else
-            gcs().send_text(MAV_SEVERITY_INFO,"imu data serialized");
     }
 }
 

diff --git a/libraries/AP_DDS/Idl/sensor_msgs/msg/IMU.idl b/libraries/AP_DDS/Idl/sensor_msgs/msg/IMU.idl