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MAVLink Message rate

Posted by CUAIR on April 23, 2015 at 12:12pm

Hey guys,

I'm working with the newest ArduPlane, and I'm trying to get the following messages at 10Hz from the PixHawk over the second serial port to another microcontroller

Msg ID: 31, Name: ATTITUDE_QUATERNION

Msg ID: 33, Name: GLOBAL_POSITION_INT

Msg ID: 63, Name: GLOBAL_POSITION_INT_COV

They're taken from the MavLink common xml. Does anyone know which SR (SR2_*_*) settings would give me these messages at 10Hz?

Thanks guys!

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external computer, serial, baudrate, rate

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Replies

Nigel Armstrong April 23, 2015 at 2:20pm

If you look at the GCS_Mavlink.pde you can see the datastreams and what messages they send. Hopefully this gives you a start.
- CUAIR > Nigel Armstrong April 24, 2015 at 7:36pm
  
  Ok, after some searching, it seems that ArduPlane doesn't send message ID 31. Anyone know where I could grab quaternion values from the controller? NavEKF::getQuaternion() doesn't work. I want to send a mavlink message using mavlink_msg_attitude_quaternion_send.
  - CUAIR > CUAIR April 28, 2015 at 4:37pm
    
    Just for future reference, we figured this out by using the following:
    
    To convert the NavEKF Euler angle to quaternions:
    
    ahrs.get_NavEKF().getQuaternion(quat);
    
    To send the quaternion message in MAVLink:
    
    mavlink_msg_attitude_quaternion_send(chan, millis(), quat.q1, quat.q2, quat.q3, quat.q4, gyros.x, gyros.y, gyros.z);
    
    One can update the rate, but when you connect using MAVProxy (or any other ground station) they reupdate the rates. So this only works over serial to a microcontroller or compute.