I have Ardupilot on plane, using 3DR Radio back to Raspberry Pi on the ground doing some advanced geo and attitude based maths, and providing audio feedback to pilot (rather than looking to screen).
I am using Dronekit-python, which in turn uses Mavproxy and Mavlink. What I am finding is that I am only getting new attitude data to the Pi at about 3hz - and I am not sure where the bottleneck is:
- 3DR is running at 57.6 khz and all happy
- I have turned off the automatic push of logs from Ardupilot down to Pi (part of Mavproxy)
- The Pi can ask for Attitude data (roll, yaw etc.) as often as it likes, but only gets new data (ie, a change in value) about every 1/3 second.
I am not deep enough inside the underlying architecture to understand what teh bottleneck may be -- can anyone help? Is it likely a round trip message response time from base to plan and back (others seem to get around 8hz from Mavlink from what I have read)? Or latency across the combination of Mavproxy, Mavlink and Drone Kit? Or is there some setting inside Ardupilot or Telemetry that copuld be driving this.
I am aware this isn't necessarily a 3DR radio issue, but not really sure where it goes as it spans quite a few components.
Replies