Merge pull request #151 from weety/fmuv2-dev

Optimize data transmission bandwidth to reduce high connection failur…

Author: JcZou

src/task/comm/mavgcs.c

@@ -500,17 +500,17 @@ fmt_err_t mavgcs_init(void)
 
     FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_ATTITUDE, 10, mavlink_msg_attitude_pack_func, true));
 
-    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 10, mavlink_msg_local_position_ned_pack_func, true));
+    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 3, mavlink_msg_local_position_ned_pack_func, true));
 
-    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 10, mavlink_msg_global_position_int_pack_func, true));
+    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 1, mavlink_msg_global_position_int_pack_func, true));
 
     FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_VFR_HUD, 5, mavlink_msg_vfr_hud_pack_func, true));
 
-    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_ALTITUDE, 10, mavlink_msg_altitude_pack_func, true));
+    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_ALTITUDE, 5, mavlink_msg_altitude_pack_func, true));
 
-    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_GPS_RAW_INT, 10, mavlink_msg_gps_raw_int_pack_func, true));
+    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_GPS_RAW_INT, 5, mavlink_msg_gps_raw_int_pack_func, true));
 
-    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_RC_CHANNELS, 10, mavlink_msg_rc_channels_pack_func, true));
+    FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_RC_CHANNELS, 5, mavlink_msg_rc_channels_pack_func, true));
 
 #ifdef FMT_USING_SIH
     FMT_TRY(mavproxy_register_period_msg(MAVPROXY_GCS_CHAN, MAVLINK_MSG_ID_HIL_STATE, 60, mavlink_msg_hil_state_pack_func, true));