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mavlink: receiver estimate total lost messages

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This commit is contained in:
Daniel Agar
2020-10-09 14:14:08 -04:00
committed by Lorenz Meier
parent fbd64fbdd8
commit 0c58d12216
7 changed files with 241 additions and 27 deletions
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src/modules/mavlink/mavlink_main.cpp
+17 -17
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@@ -217,7 +217,6 @@ Mavlink::~Mavlink()
perf_free(_loop_perf);
perf_free(_loop_interval_perf);
perf_free(_send_byte_error_perf);
perf_free(_send_start_tx_buf_low);
}
void
@@ -789,11 +788,11 @@ void Mavlink::send_start(int length)
// not enough space in buffer to send
count_txerrbytes(length);
_tstatus.tx_buffer_overruns++;
// prevent writes
_tx_buffer_low = true;
perf_count(_send_start_tx_buf_low);
} else {
_tx_buffer_low = false;
}
@@ -854,6 +853,7 @@ void Mavlink::send_finish()
#endif // MAVLINK_UDP
if (ret == (int)_buf_fill) {
_tstatus.tx_message_count++;
count_txbytes(_buf_fill);
_last_write_success_time = _last_write_try_time;
@@ -1494,15 +1494,14 @@ Mavlink::update_rate_mult()
float hardware_mult = 1.0f;
/* scale down if we have a TX err rate suggesting link congestion */
if (_tstatus.rate_txerr > 0.0f && !_radio_status_critical) {
hardware_mult = (_tstatus.rate_tx) / (_tstatus.rate_tx + _tstatus.rate_txerr);
// scale down if we have a TX err rate suggesting link congestion
if ((_tstatus.tx_error_rate_avg > 0.f) && !_radio_status_critical) {
hardware_mult = _tstatus.tx_rate_avg / (_tstatus.tx_rate_avg + _tstatus.tx_error_rate_avg);
} else if (_radio_status_available) {
// check for RADIO_STATUS timeout and reset
if (hrt_elapsed_time(&_rstatus.timestamp) > (_param_mav_radio_timeout.get() *
1_s)) {
if (hrt_elapsed_time(&_rstatus.timestamp) > (_param_mav_radio_timeout.get() * 1_s)) {
PX4_ERR("instance %d: RADIO_STATUS timeout", _instance_id);
_radio_status_available = false;
@@ -2233,7 +2232,7 @@ Mavlink::task_main(int argc, char *argv[])
perf_count(_loop_interval_perf);
perf_begin(_loop_perf);
hrt_abstime t = hrt_absolute_time();
const hrt_abstime t = hrt_absolute_time();
update_rate_mult();
@@ -2464,13 +2463,13 @@ Mavlink::task_main(int argc, char *argv[])
}
/* update TX/RX rates*/
if (t > _bytes_timestamp + 1000000) {
if (t > _bytes_timestamp + 1_s) {
if (_bytes_timestamp != 0) {
const float dt = (t - _bytes_timestamp) / 1000.0f;
const float dt = (t - _bytes_timestamp) * 1e-6f;
_tstatus.rate_tx = _bytes_tx / dt;
_tstatus.rate_txerr = _bytes_txerr / dt;
_tstatus.rate_rx = _bytes_rx / dt;
_tstatus.tx_rate_avg = _bytes_tx / dt;
_tstatus.tx_error_rate_avg = _bytes_txerr / dt;
_tstatus.rx_rate_avg = _bytes_rx / dt;
_bytes_tx = 0;
_bytes_txerr = 0;
@@ -2785,11 +2784,12 @@ Mavlink::display_status()
printf("\tflow control: %s\n", _flow_control_mode ? "ON" : "OFF");
printf("\trates:\n");
printf("\t tx: %.3f kB/s\n", (double)_tstatus.rate_tx);
printf("\t txerr: %.3f kB/s\n", (double)_tstatus.rate_txerr);
printf("\t tx: %.1f B/s\n", (double)_tstatus.tx_rate_avg);
printf("\t txerr: %.1f B/s\n", (double)_tstatus.tx_error_rate_avg);
printf("\t tx rate mult: %.3f\n", (double)_rate_mult);
printf("\t tx rate max: %i B/s\n", _datarate);
printf("\t rx: %.3f kB/s\n", (double)_tstatus.rate_rx);
printf("\t rx: %.1f B/s\n", (double)_tstatus.rx_rate_avg);
printf("\t rx loss: %.1f%%\n", (double)_tstatus.rx_message_lost_rate);
if (_mavlink_ulog) {
printf("\tULog rate: %.1f%% of max %.1f%%\n", (double)_mavlink_ulog->current_data_rate() * 100.,