move /conn parameters to /sys and /time

mavlink · Mar 1, 2024 · ef8de4c · ef8de4c
1 parent 227bb05
commit ef8de4c
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Showing 2 changed files with 9 additions and 17 deletions.
diff --git a/mavros/launch/apm_config.yaml b/mavros/launch/apm_config.yaml
@@ -7,28 +7,24 @@
 
 # --- system plugins ---
 
-# sys_status & sys_time connection options
-/mavros/**/conn:
-  ros__parameters:
-    heartbeat_rate: 1.0    # send heartbeat rate in Hertz
-    heartbeat_mav_type: "ONBOARD_CONTROLLER"
-    timeout: 10.0          # heartbeat timeout in seconds
-    timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
-    system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
-
 # sys_status
 /mavros/**/sys:
   ros__parameters:
     min_voltage: [10.0]   # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported
                         # to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
     disable_diag: false # disable all sys_status diagnostics, except heartbeat
+    heartbeat_rate: 1.0    # send heartbeat rate in Hertz
+    heartbeat_mav_type: "ONBOARD_CONTROLLER"
+    conn_timeout: 10.0          # heartbeat timeout in seconds
 
 # sys_time
 /mavros/**/time:
   ros__parameters:
     time_ref_source: "fcu"  # time_reference source
     timesync_mode: MAVLINK
     timesync_avg_alpha: 0.6 # timesync averaging factor
+    timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
+    system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
 # --- mavros plugins (alphabetical order) ---
 

diff --git a/mavros/launch/px4_config.yaml b/mavros/launch/px4_config.yaml
@@ -4,26 +4,22 @@
   ros__parameters:
     startup_px4_usb_quirk: false
 
-# sys_status & sys_time connection options
-/**/conn:
-    ros__parameters:
-      heartbeat_rate: 1.0    # send heartbeat rate in Hertz
-      timeout: 10.0          # heartbeat timeout in seconds
-      timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
-      system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
-
 # sys_status
 /**/sys:
   ros__parameters:
     min_voltage: [10.0]   # diagnostics min voltage, use a vector i.e. [16.2, 16.0] for multiple batteries, up-to 10 are supported to achieve the same on a ROS launch file do: <rosparam param="sys/min_voltage">[16.2, 16.0]</rosparam>
     disable_diag: false # disable all sys_status diagnostics, except heartbeat
+    heartbeat_rate: 1.0    # send heartbeat rate in Hertz
+    conn_timeout: 10.0          # heartbeat timeout in seconds
 
 # sys_time
 /**/time:
   ros__parameters:
     time_ref_source: fcu  # time_reference source
     timesync_mode: MAVLINK
     timesync_avg_alpha: 0.6 # timesync averaging factor
+    timesync_rate: 10.0    # TIMESYNC rate in Hertz (feature disabled if 0.0)
+    system_time_rate: 1.0  # send system time to FCU rate in Hertz (disabled if 0.0)
 
 # --- mavros plugins (alphabetical order) ---