hi all,
I have been working on a university project and part of the project evolves analyzing how the pid tuning effects the efficiency of the quad rotor. To do that I need to log the signal going to a motor on a stable hover with different pid settings. then apply the throttle changes to a bench mounted motor to get controlled environment power readings.
I have found the mavlink_servo_output_raw_t which I believe the first 4 outputs are the signal outputs to the esc on a quad rotor (please correct me if I am wrong there). however I noticed that the refresh rate is only every 0.5 seconds, that sounds very long.
so is the motor signal actually refreshed every 0.5 seconds, or does the mavlink log only record the output every 0.5 seconds while the actual refresh on the motor is shorter?
Replies
The telemetry link is only 57600 baud over the radio and that is far from enough to achieve a high update rate for all the parameters. 0.5s is thus the rate at which you see the parameter appear in the telemetry stream. The actual update rate to the ESC's is 490Hz I believe.