Hardware:
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Pixhawk 2.4.8 running PX4 1.13.2
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QGC connected via USB (direct, no telemetry radio)
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Orange Pi AIpro(8t) as companion computer, normally connected via TELEM2 (currently not connected during this test)
Problem description:
When connecting QGC via USB alone (no companion computer, no ROS nodes running), the MAVLink Inspector shows extremely high “Actual Rate” values for many messages, e.g.:
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HEARTBEAT: 46,711 Hz
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HIGHRES_IMU: 6,050 Hz
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ATTITUDE_QUATERNION: 6,299 Hz
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ODOMETRY: 3,728 Hz
This makes QGC extremely laggy / nearly unusable. The same high rates appear whether connected via USB directly, via UDP, or with a fresh QGC startup. The phenomenon started after I previously ran a ros2 launch mavros … gcs_url:=udp://@*.*.*.*:14550 command (with fcu_url:=/dev/ttyAMA1:921600), but the problem persists even when the Orange Pi is powered off and the MAVROS node is not running.
Parameters I have checked (via QGC):
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MAV_0_CONFIG= TELEM 1 -
MAV_0_MODE= Normal -
MAV_0_RATE= 1200 B/s -
MAV_0_FORWARD= Enabled -
MAV_1_CONFIG= TELEM 2 -
MAV_1_FORWARD= Disabled -
MAV_1_MODE= Onboard (for companion computer)
All MAVLink-related parameters appear correct for a normal configuration, yet the high rates remain. I have also tried manually setting stream rates to 0 via the MAVLink console (mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 0), but it has no effect,gqc auto transform it to deflaut
picture 1 is when i use usb connect px4 with qgc or use UDP(without open mavros)
with hign frequency message my computer cpu 100%, so the insufficient data cache , the chart can only display a small amount of data
picture 2 is when only open gqc,without connecting any thing
