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mavlink: use RADIO_STATUS to regulate parameter sending

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brad112358 2021-02-22 17:57:29 -06:00 committed by GitHub
parent bcae99e34a
commit d53fcb0bab
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3 changed files with 9 additions and 2 deletions
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3
src/modules/mavlink/mavlink_main.cpp
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@ -1476,6 +1476,9 @@ Mavlink::update_radio_status(const radio_status_s &radio_status)
/* this indicates spare bandwidth, increase by 2.5% */
_radio_status_mult *= 1.025f;
}
/* Constrain radio status multiplier between 1% and 100% to allow recovery */
_radio_status_mult = math::constrain(_radio_status_mult, 0.01f, 1.0f);
}
}

2
src/modules/mavlink/mavlink_main.h
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@ -518,6 +518,8 @@ public:
static hrt_abstime &get_first_start_time() { return _first_start_time; }
bool radio_status_critical() const { return _radio_status_critical; }
private:
int _instance_id{0};

6
src/modules/mavlink/mavlink_parameters.cpp
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@ -329,7 +329,8 @@ MavlinkParametersManager::send()
int i = 0;
// Send while burst is not exceeded, we still have buffer space and still something to send
while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && send_params()) {}
while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
&& send_params()) {}
}
bool
@ -390,7 +391,8 @@ MavlinkParametersManager::send_untransmitted()
break;
}
}
} while ((_mavlink->get_free_tx_buf() >= get_size()) && (_param_update_index < (int) param_count()));
} while ((_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
&& (_param_update_index < (int) param_count()));
// Flag work as done once all params have been sent
if (_param_update_index >= (int) param_count()) {