fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 07:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Improve high latency switching and acknowledge

Browse Source 
- Move publishing the telemetry status from the IridiumSBD driver to the mavlink instance
- In the commander use the iridiumsbd_status message for heartbeat in case of a high latency link
- Move positive acknowledge to the mavlink instance
- Add a failed acknowledge in the commander if no high latency link exists
This commit is contained in:
acfloria
2018-05-27 12:11:35 -04:00
committed by Daniel Agar
parent 30fc8cd608
commit 57162ff08d
6 changed files with 83 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
-31
View File
@@ -401,8 +401,6 @@ void IridiumSBD::csq_loop(void)
VERBOSE_INFO("SIGNAL QUALITY: %d", _signal_quality);
_new_state = SATCOM_STATE_STANDBY;
publish_telemetry_status();
}
void IridiumSBD::sbdsession_loop(void)
@@ -417,7 +415,6 @@ void IridiumSBD::sbdsession_loop(void)
PX4_WARN("SBD SESSION: TIMEOUT!");
++_failed_sbd_sessions;
_new_state = SATCOM_STATE_STANDBY;
publish_telemetry_status();
pthread_mutex_unlock(&_tx_buf_mutex);
}
@@ -429,7 +426,6 @@ void IridiumSBD::sbdsession_loop(void)
++_failed_sbd_sessions;
_new_state = SATCOM_STATE_STANDBY;
publish_telemetry_status();
pthread_mutex_unlock(&_tx_buf_mutex);
return;
}
@@ -440,7 +436,6 @@ void IridiumSBD::sbdsession_loop(void)
_new_state = SATCOM_STATE_STANDBY;
++_failed_sbd_sessions;
publish_telemetry_status();
pthread_mutex_unlock(&_tx_buf_mutex);
return;
}
@@ -510,7 +505,6 @@ void IridiumSBD::sbdsession_loop(void)
VERBOSE_INFO("SBD SESSION: FAILED (%d)", mo_status);
}
publish_telemetry_status();
_new_state = SATCOM_STATE_STANDBY;
pthread_mutex_unlock(&_tx_buf_mutex);
}
@@ -661,7 +655,6 @@ ssize_t IridiumSBD::write(struct file *filp, const char *buffer, size_t buflen)
if (SATCOM_TX_BUF_LEN - _tx_buf_write_idx - _packet_length < 0) {
_tx_buf_write_idx = 0;
++_num_tx_buf_reset;
publish_telemetry_status();
}
// keep track of the remaining packet length and if the full message is written
@@ -679,8 +672,6 @@ ssize_t IridiumSBD::write(struct file *filp, const char *buffer, size_t buflen)
_last_write_time = hrt_absolute_time();
_tx_buf_write_pending = true;
publish_telemetry_status();
pthread_mutex_unlock(&_tx_buf_mutex);
return buflen;
@@ -958,28 +949,6 @@ pollevent_t IridiumSBD::poll_state(struct file *filp)
return pollstate;
}
void IridiumSBD::publish_telemetry_status()
{
// publish telemetry status for logger
struct telemetry_status_s tstatus = {};
tstatus.timestamp = hrt_absolute_time();
tstatus.telem_time = tstatus.timestamp;
tstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM;
tstatus.rssi = _signal_quality;
tstatus.txbuf = ceil(100.0f * (float)_tx_buf_write_idx / SATCOM_TX_BUF_LEN);
tstatus.heartbeat_time = _last_heartbeat;
tstatus.rxerrors = _failed_sbd_sessions;
if (_telemetry_status_pub == nullptr) {
int multi_instance;
_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_LOW);
} else {
orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
}
}
void IridiumSBD::publish_iridium_status()
{
bool need_to_publish = false;
src/drivers/telemetry/iridiumsbd/IridiumSBD.h
-7
View File
@@ -40,7 +40,6 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/iridiumsbd_status.h>
typedef enum {
@@ -255,11 +254,6 @@ private:
*/
pollevent_t poll_state(struct file *filp);
/*
* Publish the up to date telemetry status
*/
void publish_telemetry_status(void);
void publish_iridium_status(void);
/**
@@ -306,7 +300,6 @@ private:
bool _writing_mavlink_packet = false;
uint16_t _packet_length = 0;
orb_advert_t _telemetry_status_pub = nullptr;
orb_advert_t _iridiumsbd_status_pub = nullptr;
bool _test_pending = false;