tfmini data rate is slow

[C-Glick]

In the mavlink inspector the distance_sensor topic shows a frequency of 0.2 hz or 0.8 hz. The tfmini is rated to 100 hz.
Running uorb top shows the sensor is publishing data at a rate of 100 hz.

logging also seems to be at a reduced rate,

[C-Glick]

could try to create a custom logger_topics file on the micro sd card. https://docs.px4.io/master/en/dev_log/logging.html#configuration

However, it should already be logging at the maximum rate?

[C-Glick]

Increase mavlink streaming rate? https://docs.px4.io/master/en/middleware/mavlink.html#set-streaming-rate

Sometimes it is useful to increase the streaming rate of individual topics (e.g. for inspection in QGC). This can be achieved by typing the following line in the shell:

mavlink stream -u <port number> -s <mavlink topic name> -r <rate>
You can get the port number with mavlink status which will output (amongst others) transport protocol: UDP (). An example would be:

mavlink stream -u 14556 -s OPTICAL_FLOW_RAD -r 300

Should increase the frequency of data being sent to QGroundControl. unclear if this will affect flight behavior.

[C-Glick]

When plugged-in through usb, streaming rate of the distance sensor to QGC appears to be at 10hz.

Changing the mavlink streaming rate with mavlink stream -d /dev/ttys1 (or ttyACM0) -s distance_sensor -r 100 did not appear to change logging rate or streaming rate to QGC.

Enabling estimator replay (EKF2) in the SDLOG_PROFILE parameter appears to have increased logging rate and looks adequate. From the documentation about SDLOG_PROFILE "1 : Full rate estimator (EKF2) replay topics"

Need to test range aid mode to verify the distance sensor is being used for fine altitude measurements during landing and takeoff.