From 8f3bca3919922774f6861357b6109bcb6ee9a86d Mon Sep 17 00:00:00 2001
From: magate <69254089+magate@users.noreply.github.com>
Date: Fri, 4 Oct 2024 16:30:48 -0700
Subject: [PATCH] mavproxy_messagerate: do special handling for reset and stop
 set

---
 MAVProxy/modules/mavproxy_messagerate.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/MAVProxy/modules/mavproxy_messagerate.py b/MAVProxy/modules/mavproxy_messagerate.py
index 78f6c0ad75..73bd1c1343 100644
--- a/MAVProxy/modules/mavproxy_messagerate.py
+++ b/MAVProxy/modules/mavproxy_messagerate.py
@@ -61,6 +61,8 @@ def cmd_messagerate(self, args):
                 return
             message_name = args[1]
             message_rate = float(args[2])
+            # Special handling for -1 and 0 which correspond to "stop sending" and "reset to default rate"
+            message_rate = message_rate if message_rate <= 0 else 1E6/message_rate
             priority = 0
             if len(args) > 3:
               priority = int(args[3])
@@ -74,7 +76,7 @@ def cmd_messagerate(self, args):
                         self.settings.target_component,
                         mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
                         0,
-                        msg_id, (int) (1E6/message_rate), priority, 0, 0, 0, 0)
+                        msg_id, (int) (message_rate), priority, 0, 0, 0, 0)
                     return
             print("Unknown message ID:%s" % message_name)