mavlink transport just a little message the video will lost

[1113870631]

i just use the mavlink to transport some distance message with wfb,the video will almost lost. I set the video bitrate=2000, the done will send the mavlink_msg_heartbeat_pack and mavlink_msg_distance_sensor_pack with 2Hz , the ground just send mavlink_msg_heartbeat_pack,the video is lost.is it normal?

the drone mavlink code

for (;;) 
    {
		
		/*Send Heartbeat */
		mavlink_msg_heartbeat_pack(1, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE);
		len = mavlink_msg_to_send_buffer(buf, &msg);
		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));

		/*send distance*/
		//current_distance++;
		current_distance=Get_distance( sonar);
		 mavlink_msg_distance_sensor_pack(1,200,&msg,time_boot_ms,min_distance,max_distance,current_distance,type,id,orientation,covariance,0,0,0,0);
		 len = mavlink_msg_to_send_buffer(buf, &msg);	
		 bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
		
		
		
		memset(buf, 0, BUFFER_LENGTH);
		recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
		if (recsize > 0)
      	{
			// Something received - print out all bytes and parse packet
			mavlink_message_t msg;
			mavlink_status_t status;
			
			//printf("Bytes Received: %d\nDatagram: ", (int)recsize);
			for (i = 0; i < recsize; ++i)
			{
				temp = buf[i];
				//printf("%02x ", (unsigned char)temp);
				if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
				{
					// Packet received
					if(msg.sysid==15){
						printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
					}
					
				}
			}
			printf("\n");
		}
		memset(buf, 0, BUFFER_LENGTH);
		sleep(0.5); // Sleep one second

the gs code

for (;;) 
    {
				int sysid=15;
		/*Send Heartbeat */
		mavlink_msg_heartbeat_pack(sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE);
		len = mavlink_msg_to_send_buffer(buf, &msg);
		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
		
		/* Send Status */
	/* 	mavlink_msg_sys_status_pack(1, 200, &msg, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
		len = mavlink_msg_to_send_buffer(buf, &msg);
		bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in)); */

		/*send distance*/
		// Pack the message

		//mavlink_msg_distance_sensor_pack(sysid,200,&msg,time_boot_ms,min_distance,max_distance,current_distance++,type,id,orientation,covariance,0,0,0,0);
		// Copy the message to the send buffer
		 //len = mavlink_msg_to_send_buffer(buf, &msg);	
		 //send
		 //bytes_sent = sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));


		memset(buf, 0, BUFFER_LENGTH);
		recsize = recvfrom(sock, (void *)buf, BUFFER_LENGTH, 0, (struct sockaddr *)&gcAddr, &fromlen);
		if (recsize > 0)
      	{
			// Something received - print out all bytes and parse packet
			mavlink_message_t msg;
			mavlink_status_t status;
			
			//printf("Bytes Received: %d\nDatagram: ", (int)recsize);
			for (i = 0; i < recsize; ++i)
			{
				temp = buf[i];
				//printf("%02x ", (unsigned char)temp);
				if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
				{
					// Packet received
					//printf("\nReceived packet: SYS: %d, COMP: %d, LEN: %d, MSG ID: %d\n", msg.sysid, msg.compid, msg.len, msg.msgid);
					switch(msg.msgid) {
						case MAVLINK_MSG_ID_DISTANCE_SENSOR: // ID for GLOBAL_POSITION_INT
							{
							// Get all fields in payload (into global_position
							uint16_t  distance=mavlink_msg_distance_sensor_get_current_distance(&msg);
							printf("distance: %d\n",distance);
							}
							break;
						default:
							break;
    }

				}
			}
			//printf("\n");
		}
		memset(buf, 0, BUFFER_LENGTH);
		sleep(0.5); // Sleep one second

[svpcom]

man 3 sleep
...
unsigned int sleep(unsigned int seconds);

(unsigned int)0.5 == 0, so no delay between send mavlink packets

[svpcom]

Use wfb-cli gs to debug such cases. It will show packet rate on all channels

[1113870631]

ok i will try