/**
* Periodic MAVLink calls.
* Called at MAVLINK_PERIODIC_FREQ (set in module xml to 10Hz)
*/
void mavlink_periodic(void)
{
#if !defined (TELEMETRY_MAVLINK_NB_MSG)
// use these hardcoded periods if no Mavlink process in telemetry file
RunOnceEvery(2, mavlink_send_heartbeat(NULL, NULL));
RunOnceEvery(5, mavlink_send_sys_status(NULL, NULL));
RunOnceEvery(20, mavlink_send_system_time(NULL, NULL));
RunOnceEvery(10, mavlink_send_attitude(NULL, NULL));
RunOnceEvery(5, mavlink_send_attitude_quaternion(NULL, NULL));
RunOnceEvery(4, mavlink_send_local_position_ned(NULL, NULL));
RunOnceEvery(5, mavlink_send_global_position_int(NULL, NULL));
RunOnceEvery(6, mavlink_send_gps_raw_int(NULL, NULL));
RunOnceEvery(5, mavlink_send_rc_channels(NULL, NULL));
RunOnceEvery(21, mavlink_send_battery_status(NULL, NULL));
RunOnceEvery(32, mavlink_send_autopilot_version(NULL, NULL));
RunOnceEvery(33, mavlink_send_gps_global_origin(NULL, NULL));
RunOnceEvery(10, mavlink_send_gps_status(NULL, NULL));
RunOnceEvery(10, mavlink_send_vfr_hud(NULL, NULL));
#endif
// if requested, send params at 5Hz until all sent
RunOnceEvery(2, mavlink_send_params(NULL, NULL));
mavlink_mission_periodic();
}
/**
* Periodic MAVLink calls.
* Called at MAVLINK_PERIODIC_FREQUENCY (set in module xml to 10Hz)
*/
void mavlink_periodic(void)
{
RunOnceEvery(2, mavlink_send_heartbeat());
RunOnceEvery(5, mavlink_send_sys_status());
RunOnceEvery(20, mavlink_send_system_time());
RunOnceEvery(10, mavlink_send_attitude());
RunOnceEvery(5, mavlink_send_attitude_quaternion());
RunOnceEvery(5, mavlink_send_params());
RunOnceEvery(4, mavlink_send_local_position_ned());
RunOnceEvery(5, mavlink_send_global_position_int());
RunOnceEvery(6, mavlink_send_gps_raw_int());
RunOnceEvery(5, mavlink_send_attitude_quaternion());
RunOnceEvery(5, mavlink_send_rc_channels());
RunOnceEvery(21, mavlink_send_battery_status());
RunOnceEvery(32, mavlink_send_autopilot_version());
RunOnceEvery(33, mavlink_send_gps_global_origin());
RunOnceEvery(10, mavlink_send_gps_status());
RunOnceEvery(10, mavlink_send_vfr_hud());
mavlink_mission_periodic();
}
