Request-Data-Stream requests interfere with ROS/SLAM setup

[rmackay9]

APWeb seems to be sending REQUEST_DATA_STREAM messages at about 10hz and within this message it requests the flight controller set all stream rates to 4hz. This interferes with the ROS/SLAM setups (described here on the wiki) that need much higher IMU data rates (like 50hz).

Note that I didn't actually need to be using the APWeb page for this issue to occur.

Of course I can disable APWeb on APSync (and add instructions on our wiki) but it would be nice if APWeb only requested these stream rates if it was getting data at a lower rate than 4hz.

[khancyr]

better would be to have a button/checkbox/option to disable the auto-update of rate !

[cheslee-z]

I'm try to apply vins-fusion to visual navigation of ardupilot, maybe I meet the similar issue. When I calibrate my parameters between imu and camera, I find that the frequent of imu is unstable, As is depicted in the picture below. I have see the wiki on https://ardupilot.org/dev/docs/ros-data-from-ap.html, so I think the problem maybe is caused by the APWeb, but I can't find where is the /etc/rc.local file, could you help me?

[cheslee-z]

@rmackay9