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mavlink: correct stream_command rate use #15362

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mavlink: correct stream_command rate use #15362

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8 changes: 2 additions & 6 deletions src/modules/mavlink/mavlink_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2879,7 +2879,7 @@ Mavlink::stream_command(int argc, char *argv[])
if (0 == strcmp(argv[i], "-r") && i < argc - 1) {
rate = strtod(argv[i + 1], nullptr);

if (rate < 0.0f) {
if (rate < -2.5f) {
err_flag = true;
}

Expand Down Expand Up @@ -2935,10 +2935,6 @@ Mavlink::stream_command(int argc, char *argv[])
return 1;
}

if (rate < 0.0f) {
rate = -2.0f; // use default rate
}

if (inst != nullptr) {
inst->configure_stream_threadsafe(stream_name, rate);

Expand Down Expand Up @@ -3054,7 +3050,7 @@ Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
#endif
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
PRINT_MODULE_USAGE_PARAM_STRING('s', nullptr, nullptr, "Mavlink stream to configure", false);
PRINT_MODULE_USAGE_PARAM_FLOAT('r', -1.0f, 0.0f, 2000.0f, "Rate in Hz (0 = turn off, -1 = set to default)", false);
PRINT_MODULE_USAGE_PARAM_FLOAT('r', -1.0f, 0.0f, 2000.0f, "Rate in Hz (0 = turn off, -1 = default, -2 = unlimited rate)", false);

PRINT_MODULE_USAGE_COMMAND_DESCR("boot_complete",
"Enable sending of messages. (Must be) called as last step in startup script.");
Expand Down