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3dr radio latency when using joystick control via MAVLink

Posted by Ruoyu Tan on September 21, 2015 at 12:48pm

Hello All,

I have a IRIS+ and am trying to use joystick fly it via MAVLink in Ubuntu.

My issue is that my joystick control code works OK if I directly connect ground station and IRIS via USB cable (receive attitude message at 8Hz). However, I will experience a 2 seconds latency using 3DR radio to replace with USB cable (receive attitude message at 2Hz).

To solve the latency problem, I follow http://copter.ardupilot.com/wiki/common-3dr-radio-version-2/ to set mavlink mode of radio to low latency. After that, IRIS is even not able to receive RC override message.

Can anyone give me some help or suggestions for this problem? Thanks in advanced.

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Replies

  • john December 7, 2015 at 4:03pm

    I don't know the solution, but you may want to try an older Mission Planner on a fast computer and use a fast baud rate like 115kb for usb and air data rates. I have flown arducopter using Mission Planner/Mavlink joystick control and it was a bit slow, but flyable. I believe that Mavlink doesn't send the joystick control code packets very frequently. I built a custom radio that sends the joystick packets rather fast like 20 times a second and it flew quite well with faster response. If someone can improve the source code it doesn't seem that all the bugs have been worked out of the joystick function.

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