Increase IMU rate in ROS on Intel Aero RTF with PX4

[szebedy]

I cannot increase the IMU rate in ROS on my Intel Aero RTF with PX4. When I check the frequency of the /mavros/imu/data topic with rostopic hz /mavros/imu/data, it's always 50 no matter what I do.

Since I'm using mavros, the first thing I've tried is rosservice call /mavros/set_stream_rate 1 200 1. Then I've found out that this service is not supported on PX4.

Therefore I've moved on the the PX4 documentation and found out that with the mavlink module it is possible to change the rate of different streams. Therefore I've tried the command mavlink stream -u 14556 -s HIGHRES_IMU -r 200 in QGroundControl, but still no effect.

I've also tried the MAV_CMD_GET_MESSAGE_INTERVAL, command on MAVLINK_MSG_ID_HIGHRES_IMU, again no success.

Has anyone succeeded in increasing the rate? I'd need this for visual-inertial odometry.

[szebedy]

Solution here: mavlink/mavros#1035