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MAVLink: Improve message handling / tracking

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The message handling was not obeying action focused messages and high-rate messages properly before. With this change update rates track the desired rates closely. Critical high-rate messages such as ADS-B are queued additionally to guarantee that all received packets are being correctly forwarded.
This commit is contained in:
Lorenz Meier
2017-07-29 16:12:41 +02:00
parent 556eb9e45a
commit 07ced9895c
8 changed files with 342 additions and 151 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -2084,7 +2084,7 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
t.flags = adsb.flags;
t.squawk = adsb.squawk;
//warnx("code: %d callsign: %s, vel: %8.4f", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity);
//PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);
if (_transponder_report_pub == nullptr) {
_transponder_report_pub = orb_advertise_queue(ORB_ID(transponder_report), &t, transponder_report_s::ORB_QUEUE_LENGTH);