Raw IMU and Attitude Data from Ardupilot in Dune

[Bjørn Spockeli]

Hi,
im trying to get Attitude and Raw IMU data using the Ardupilot Task. In the Ardupilot Task.cpp,  MAV_DATA_STREAM_RAW_SENSORS are requested at 50 Hz, wich is hardcoded. This gives me the acceleration and angular velocity from the IMU in the IMC::Acceleration and IMC Angular message. In order to get attitude and  from IMC EstimatedStates I have set MAV_DATA_STREAM_POSITION and MAV_DATA_STREAM_EXTRA1, to be requested at 50 Hz.

I have set the baudrate of the serial connection to 921600 , but im only receiving IMC::Acceleration, AngularVelocity and Estimated::States  in Neptus at 25 Hz.  I thought that the problem was due to the size the serial transmit buffer in the ArduPlane Firmware and modified it by setting it to 512 bytes instead of 256. This had no effect and im still stuck at 25hz.

Have you guys had any problems regarding this? 

[João Fortuna]

Hi,

I've pinpointed this issue to an ArduPilot code bug.

I haven't found a fix yet, but I'm working on it.

João

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[João Fortuna]

Update: I've submitted a pull-request to diydrones' ardupilot git repository with the fix.

https://github.com/diydrones/ardupilot/pull/1893