What is the best way to disable specific mavlink messages that are sent over Telem2 to the Offboard computer? I would like to disable all messages that I am not using so that the messages I want can go faster over the serial bus. I’ve seen many places how to change the publish rate. Something like …

By they way, the root of my issue is that I would like certain topics at a faster rate for my offboard computing. My thought is that the rates are limited by the baud rate over the serial bus, but I guess that could be wrong. I’ve set the baud rate on the PX4 to 921600 (the max). Using the mavlink…

Thanks, I was able to find that. It’s actually under the “on_board” section, which is a very confusing name since everywhere else it’s called “offboard”. Anyway, the distance sensor is still limited to 20 Hz. Is there anywhere else that this rate could be limiting besides here? Maybe in the i2c dri…

I found it!!! It was in fact in the driver. In LidarLite.h there is a macro defined as #define LL40LS_CONVERSION_INTERVAL 50*1000UL /* 50ms */ 50ms corresponds to 20 Hz, which was the maximum rate I was seeing. I changed this to 5 ms, corresponding to 200Hz. Now I’m able to get that topic faster. …

Disabling MavLink/MavROS messages

PX4 Autopilot

pziyang April 6, 2017, 11:08pm 3

See Enable/Disable mavlink message, px4fmu-v2

Should be in the same file under the off_board section

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Disabling MavLink/MavROS messages

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