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MAVLink app: Make bandwidth scaling depending on the TX error as well

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Lorenz Meier
2015-07-31 20:06:23 +02:00
parent d19718a23b
commit 10a6a59498
1 changed files with 6 additions and 0 deletions
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src/modules/mavlink/mavlink_main.cpp
+6
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@@ -1232,6 +1232,7 @@ Mavlink::update_rate_mult()
float const_rate = 0.0f; float const_rate = 0.0f;
float rate = 0.0f; float rate = 0.0f;
/* scale down rates if their theoretical bandwidth is exceeding the link bandwidth */
MavlinkStream *stream; MavlinkStream *stream;
LL_FOREACH(_streams, stream) { LL_FOREACH(_streams, stream) {
if (stream->const_rate()) { if (stream->const_rate()) {
@@ -1244,6 +1245,11 @@ Mavlink::update_rate_mult()
/* don't scale up rates, only scale down if needed */ /* don't scale up rates, only scale down if needed */
_rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate); _rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate);
/* scale down if we have a TX err rate suggesting link congestion */
if (_rate_txerr > 0.0f) {
_rate_mult = (_rate_tx) / (_rate_tx + _rate_txerr);
}
} }
int int