# Change Message Interval ArduPilot

I am using Mavlink protocol (in c++) to communicate with the ArduPilotMega, I am able to read messages such as ATTITUDE for example.
I am currently getting only 2Hz (message rate) and I would like to increase it. I found out that I should use MESSAGE_INTERVAL in order to change it, and that I probably need to use the command MAV_CMD_SET_MESSAGE_INTERVAL to set it.

So my question is, how do I send that command using mavlink in c++?

I tried doing this with the code below but it did not work, I guess that I should use the command that I mentioned above but I don't know how.

mavlink_message_t command;

interval.interval_us = 100000;
interval.message_id = 30;

p_sensorsPort->write_message(command);


Update: I also tried this code below, maybe I am not giving it the right system id or component id.

mavlink_message_t command;

interval.param2 = 100000;
interval.command = MAV_CMD_SET_MESSAGE_INTERVAL;
interval.target_system = 0;
interval.target_component = 0;


Maybe I am missing something about the difference between target_system, target_component and sysid, compid. I tried few values for each but nothing worked. Is there any ack that will be able to tell me if it even got the command?