Mavros修改IMU数据传输频率(完整版)

mavros中的IMU话题有两个，一个原始数据，另外一个是飞控计算过后的IMU数据。下面介绍几种方法来提高两个IMU话题的发布频率。

操作方法（APM）

提高波特率

提高发布频率过后数据的传送量一下变的大起来了，首先需要提高对应数据接口的波特率。

1.在 QGC Mavlink 控制台中执行以下命令：

mavlink stream -d /dev/ttyS1 -s HIGHRES_IMU -r 100
mavlink stream -d /dev/ttyS1 -s ATTITUDE_QUATERNION -r 100

2.在终端中(26对应data_raw、31对应data)

rosrun mavros mavcmd long 511 26 10000 0 0 0 0 0		#data_raw
rosrun mavros mavcmd long 511 31 10000 0 0 0 0 0		#data

3、直接修改参数：https://ardupilot.org/dev/docs/mavlink-requesting-data.html

来源：

1、mavcmd

usage: mavcmd [-h] [-n MAVROS_NS] [-v] [--wait]
              {long,int,sethome,takeoff,land,takeoffcur,landcur,trigger_control}
              ...

Commad line tool for sending commands to MAVLink device.

positional arguments:
  {long,int,sethome,takeoff,land,takeoffcur,landcur,trigger_control}
    long                Send any command (COMMAND_LONG)
    int                 Send any command (COMMAND_INT)
    sethome             Request change home position
    takeoff             Request takeoff
    land                Request land
    takeoffcur          Request takeoff from current GPS coordinates
    landcur             Request land on current GPS coordinates
    trigger_control     Control onboard camera trigerring system (PX4)

optional arguments:
  -h, --help            show this help message and exit
  -n MAVROS_NS, --mavros-ns MAVROS_NS
                        ROS node namespace
  -v, --verbose         verbose output
  --wait                Wait for establishing FCU connection

2、COMMAND_LONG

[Message] Send a command with up to seven parameters to the MAV. The command microservice is documented at https://mavlink.io/en/services/command.html

Field Name	Type	Values	Description
target_system	uint8_t		System which should execute the command
target_component	uint8_t		Component which should execute the command, 0 for all components
command	uint16_t	MAV_CMD	Command ID (of command to send).
confirmation	uint8_t		0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1	float		Parameter 1 (for the specific command).
param2	float		Parameter 2 (for the specific command).
param3	float		Parameter 3 (for the specific command).
param4	float		Parameter 4 (for the specific command).
param5	float		Parameter 5 (for the specific command).
param6	float		Parameter 6 (for the specific command).
param7	float		Parameter 7 (for the specific command).

3、MAVLink Commands (MAV_CMD)

Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component’s current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries

4、 MAV_CMD_SET_MESSAGE_INTERVAL (511 )

[Command] Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

Param (:Label)	Description	Values	Units
1: Message ID	The MAVLink message ID	min:0 max:16777215 increment:1
2: Interval	The interval between two messages. -1: disable. 0: request default rate (which may be zero).	min: -1 increment:1	us
7: Response Target	Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.	min:0 max:2 increment:1