# Increase /mavros/state frequency in 1.9

**URL:** <https://discuss.px4.io/t/increase-mavros-state-frequency-in-1-9/12965>\
**Category:** PX4 Autopilot\
**Created:** [September 17, 2019, 12:40pm UTC](https://discuss.px4.io/t/increase-mavros-state-frequency-in-1-9/12965 "2019-09-17T12:40:53Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![robin-ecn](https://discuss.px4.io/user_avatar/discuss.px4.io/robin-ecn/32/3444_2.png) [@robin-ecn](https://discuss.px4.io/u/robin-ecn)\
**Post date:** [September 17, 2019, 12:40pm UTC](https://discuss.px4.io/t/increase-mavros-state-frequency-in-1-9/12965/1 "2019-09-17T12:40:53Z")

</div>

Hi guys,

It seems that we can increase the mavros topic frequency by mavros commands. I have succeed in increasing the imu data publishing frequency by

```auto
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 200
mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 200

```

However, the frequency of /mavros/state is 1hz and I can not increase that. Previous disucssion can be found in [mavros/state frequency · Issue #215 · mavlink/mavros · GitHub](https://github.com/mavlink/mavros/issues/215), but no one found a solution.

Is there anyone who solved this problem?