fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: enable 6 instead of 4 instance

Browse Source
This commit is contained in:
Julian Oes 2020-10-09 18:14:42 +02:00 committed by Daniel Agar
parent a16939f47e
commit 2a0ddf9f44
6 changed files with 20 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/mavlink/mavlink_bridge_header.h
View File

@ -55,6 +55,12 @@
#define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer
#define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status
#if defined(__PX4_POSIX)
#define MAVLINK_COMM_NUM_BUFFERS 6
#define MAVLINK_COMM_4 static_cast<mavlink_channel_t>(4)
#define MAVLINK_COMM_5 static_cast<mavlink_channel_t>(5)
#endif
#include <v2.0/mavlink_types.h>
#include <unistd.h>

4
src/modules/mavlink/mavlink_command_sender.cpp
View File

@ -151,7 +151,7 @@ void MavlinkCommandSender::check_timeout(mavlink_channel_t channel)
// as some channels might be lagging behind and will end up putting the same command into the buffer.
bool dropped_command = false;
for (unsigned i = 0; i < MAX_MAVLINK_CHANNEL; ++i) {
for (unsigned i = 0; i < MAVLINK_COMM_NUM_BUFFERS; ++i) {
if (item->num_sent_per_channel[i] == -2) {
_commands.drop_current();
dropped_command = true;
@ -176,7 +176,7 @@ void MavlinkCommandSender::check_timeout(mavlink_channel_t channel)
int8_t max_sent = 0;
int8_t min_sent = INT8_MAX;
for (unsigned i = 0; i < MAX_MAVLINK_CHANNEL; ++i) {
for (unsigned i = 0; i < MAVLINK_COMM_NUM_BUFFERS; ++i) {
if (item->num_sent_per_channel[i] > max_sent) {
max_sent = item->num_sent_per_channel[i];
}

13
src/modules/mavlink/mavlink_command_sender.h
View File

@ -102,14 +102,19 @@ private:
static MavlinkCommandSender *_instance;
static px4_sem_t _lock;
// There are MAVLINK_COMM_0 to MAVLINK_COMM_3, so it should be 4.
static const unsigned MAX_MAVLINK_CHANNEL = 4;
struct command_item_s {
mavlink_command_long_t command = {};
hrt_abstime timestamp_us = 0;
hrt_abstime last_time_sent_us = 0;
int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = {-1, -1, -1, -1}; // -1: channel did not request this command to be sent, -2: channel got an ack for this command
// -1: channel did not request this command to be sent, -2: channel got an ack for this command
#if MAVLINK_COMM_NUM_BUFFERS == 4
int8_t num_sent_per_channel[MAVLINK_COMM_NUM_BUFFERS] = {-1, -1, -1, -1};
#elif MAVLINK_COMM_NUM_BUFFERS == 6
int8_t num_sent_per_channel[MAVLINK_COMM_NUM_BUFFERS] = {-1, -1, -1, -1, -1, -1};
#else
#error Unknown number of MAVLINK_COMM_NUM_BUFFERS
#endif
};
TimestampedList<command_item_s> _commands{3};

2
src/modules/mavlink/mavlink_log_handler.h
View File

@ -41,7 +41,7 @@
#include <time.h>
#include <stdio.h>
#include <cstdbool>
#include <v2.0/mavlink_types.h>
#include "mavlink_bridge_header.h"
#include <drivers/drv_hrt.h>
class Mavlink;

2
src/modules/mavlink/mavlink_main.cpp
View File

@ -278,7 +278,7 @@ Mavlink::set_channel()
#endif
default:
PX4_WARN("instance ID is out of range");
PX4_WARN("instance ID %d is out of range", _instance_id);
px4_task_exit(1);
break;
}

2
src/modules/mavlink/mavlink_main.h
View File

@ -540,7 +540,7 @@ private:
bool _task_running{true};
static bool _boot_complete;
static constexpr int MAVLINK_MAX_INSTANCES{4};
static constexpr int MAVLINK_MAX_INSTANCES{6};
static constexpr int MAVLINK_MIN_INTERVAL{1500};
static constexpr int MAVLINK_MAX_INTERVAL{10000};
static constexpr float MAVLINK_MIN_MULTIPLIER{0.0005f};