From d29cf1aa01c88b5058fa9bddcf1c131d0059315e Mon Sep 17 00:00:00 2001
From: astik <41.astiksrivastava@gmail.com>
Date: Sun, 18 Feb 2024 09:27:45 +0530
Subject: [PATCH] changes for increasing frequency

---
 libraries/AP_DDS/AP_DDS_Client.cpp           |  5 +-
 libraries/AP_DDS/Idl/sensor_msgs/msg/IMU.idl | 48 --------------------
 2 files changed, 1 insertion(+), 52 deletions(-)
 delete mode 100644 libraries/AP_DDS/Idl/sensor_msgs/msg/IMU.idl

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 3d1dd04379f22f..c44cf561c3dcd2 100644
--- 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
deleted file mode 100644
index 2770316110bf82..00000000000000
--- a/libraries/AP_DDS/Idl/sensor_msgs/msg/IMU.idl
+++ /dev/null
@@ -1,48 +0,0 @@
-// generated from rosidl_adapter/resource/msg.idl.em
-// with input from sensor_msgs/msg/Imu.msg
-// generated code does not contain a copyright notice
-
-#include "geometry_msgs/msg/Quaternion.idl"
-#include "geometry_msgs/msg/Vector3.idl"
-#include "std_msgs/msg/Header.idl"
-
-module sensor_msgs {
-  module msg {
-    typedef double double__9[9];
-    @verbatim (language="comment", text=
-      "This is a message to hold data from an IMU (Inertial Measurement Unit)" "\n"
-      "" "\n"
-      "Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec" "\n"
-      "" "\n"
-      "If the covariance of the measurement is known, it should be filled in (if all you know is the" "\n"
-      "variance of each measurement, e.g. from the datasheet, just put those along the diagonal)" "\n"
-      "A covariance matrix of all zeros will be interpreted as \"covariance unknown\", and to use the" "\n"
-      "data a covariance will have to be assumed or gotten from some other source" "\n"
-      "" "\n"
-      "If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an" "\n"
-      "orientation estimate), please set element 0 of the associated covariance matrix to -1" "\n"
-      "If you are interpreting this message, please check for a value of -1 in the first element of each" "\n"
-      "covariance matrix, and disregard the associated estimate.")
-    struct Imu {
-      std_msgs::msg::Header header;
-
-      geometry_msgs::msg::Quaternion orientation;
-
-      @verbatim (language="comment", text=
-        "Row major about x, y, z axes")
-      double__9 orientation_covariance;
-
-      geometry_msgs::msg::Vector3 angular_velocity;
-
-      @verbatim (language="comment", text=
-        "Row major about x, y, z axes")
-      double__9 angular_velocity_covariance;
-
-      geometry_msgs::msg::Vector3 linear_acceleration;
-
-      @verbatim (language="comment", text=
-        "Row major x, y z")
-      double__9 linear_acceleration_covariance;
-    };
-  };
-};