how to change angular rate frequency coming from estimator px4 support package

How can we change sample time for angular rate coming from estimator with px4 support package in simulink? we tried changing sample time parameter in vehicle attiude block but always got 100Hz frequency.

Answer 1

[Manoj Velmurugan]

'Vehicle Attitude' block uses vehicle_odometry uORB topic internally, which happens to publish at 100 Hz. For obtaining the angular velocity at higher rates, you can use the vehicle_angular_velocity topic.

Refer to our documentation to know more about reading uORB topics in Simulink.