fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 00:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: reduce rate multiplier to 0.25 while sending parameters

Browse Source 
Co-authored-by: alexcekay <alexander@auterion.com>
This commit is contained in:
Beat Küng
2025-01-22 16:32:52 +01:00
committed by Alexander Lerach
parent cfe1666add
commit bb3fd295ea
5 changed files with 25 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+5
View File
@@ -1318,6 +1318,11 @@ Mavlink::update_rate_mult()
/* scale up and down as the link permits */
float bandwidth_mult = (float)(_datarate * mavlink_ulog_streaming_rate_inv - const_rate) / rate;
/* Reduce rate while sending parameters in low bandwidth mode */
if (sending_parameters() && _mode == Mavlink::MAVLINK_MODE_LOW_BANDWIDTH) {
bandwidth_mult = fminf(bandwidth_mult, 0.25f);
}
/* if we do not have flow control, limit to the set data rate */
if (!get_flow_control_enabled()) {
bandwidth_mult = fminf(1.0f, bandwidth_mult);