Hello Support Team,
I am using pymavlink on the Aero platform to pull telemetry data. Currently, my main interest are the GPS_RAW_INT and ATTITUDE messages. So I am trying to use the MAV_CMD_SET_MESSAGE_INTERVAL to customize the rate to be 100ms. Here's a sample of how I use it:
# set the gps rate
mav_socket.mav.command_long_send(mav_socket.target_system, # target_system
mav_socket.target_component, # target_component
mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, # command
0, # confirmation
24, 10000, 0, 0, 0, 0, 0) # param 1-7
# get the gps data
I've timed the ATTITUDE message and I've noticed that it has a very high rate. It is generally under 1ms to fetch a reading for this! But when I try to set the GPS_RAW_INT to 100ms, the best I can get is about 200ms. I did experiment with other values like 900ms, 500ms, etc. and I was able to see that I could indeed configure the message interval. So now I am wondering if you guys know of a different way to configure this. Would this require a modification within the mavlink-router or FW on the flight controller? Or is the GPS_RAW_INT only able to to go as fast as 200ms?
Thank you for your interest in the Intel Aero Ready to Fly Drone.
We have received your query. Let me investigate and get back to you as soon as possible.
Thank you very much for your patience.
After investigating we noticed that the rate you are getting is most likely due to the frequency that the GPS module outputs data which is usually around 5 Hz (200 ms).
We don't believe this can be improved by firmware or the flight controller stack.
Let me know if I can assist with any other queries.