How to increase tf mini frequency

Halil · March 26, 2024, 7:42am

Hi there,
I am getting distance data from tf mini at 10 hz, tough it seems it can operate at 100 hz. How can I increase frequency.
Thanks in advance

JulianOes · March 27, 2024, 7:15pm

Looking at the code it seems like it should run at 100 Hz:

github.com

PX4/PX4-Autopilot/blob/3099eac2bae8365547f7bddbee305161f212d008/src/drivers/distance_sensor/tfmini/TFMINI.cpp#L248


      
          
          	perf_end(_sample_perf);
          
          	return PX4_OK;
          }
          
          void
          TFMINI::start()
          {
          	// schedule a cycle to start things (the sensor sends at 100Hz, but we run a bit faster to avoid missing data)
          	ScheduleOnInterval(7_ms);
          }
          
          void
          TFMINI::stop()
          {
          	ScheduleClear();
          }
          
          void
          TFMINI::Run()

How do you know you receive it at 10 Hz? Maybe it’s just the MAVLink message that is sent at 10 Hz. In the mavlink console, do uorb top and check for sensor_distance to see the internal uORB rate.

Halil · March 28, 2024, 9:20am

Yes, when I command uorb top -1 (uorb top didn’t work btw for other people with same problem) I get the frequency around 100 hz.
I am getting 10 hz on mavros, probably as you have indicated the mavlink message is set as 10 hz. How can I increase it ?
Thanks for the reply btw.
Screenshot from 2024-03-28 12-19-42

Halil · April 3, 2024, 9:54am

Hi all,
I have done it via help from discord channel. I am writing here to help others.

You can type this command on mavlink terminal of QGC: (be cautious about the device directory)
mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 100

type just “mavlink” to get info about arguments

check also the following link for detailed info:

JulianOes · April 4, 2024, 11:34pm

Haha that was me. I guess I check Discord more often than the forum here, although I prefer it here.

In any case, thanks for reporting back.