diff options
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 60 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 17 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_stream.h | 13 |
3 files changed, 84 insertions, 6 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index ea60bb226..e6b558ca6 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -246,7 +246,8 @@ Mavlink::Mavlink() : _ftp_on(false), _uart_fd(-1), _baudrate(57600), - _datarate(10000), + _datarate(1000), + _datarate_events(500), _mavlink_param_queue_index(0), mavlink_link_termination_allowed(false), _subscribe_to_stream(nullptr), @@ -352,6 +353,18 @@ Mavlink::count_txerr() perf_count(_txerr_perf); } +unsigned +Mavlink::get_free_tx_buf() +{ + unsigned buf_free; + + if (!ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free)) { + return buf_free; + } else { + return 0; + } +} + void Mavlink::set_mode(enum MAVLINK_MODE mode) { @@ -1084,6 +1097,31 @@ Mavlink::configure_stream(const char *stream_name, const float rate) } void +Mavlink::adjust_stream_rates(const float multiplier) +{ + /* do not allow to push us to zero */ + if (multiplier < 0.01f) { + return; + } + + /* search if stream exists */ + MavlinkStream *stream; + LL_FOREACH(_streams, stream) { + /* set new interval */ + unsigned interval = stream->get_interval(); + interval /= multiplier; + + /* allow max ~600 Hz */ + if (interval < 1600) { + interval = 1600; + } + + /* set new interval */ + stream->set_interval(interval * multiplier); + } +} + +void Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) { /* orb subscription must be done from the main thread, @@ -1464,7 +1502,7 @@ Mavlink::task_main(int argc, char *argv[]) /* don't send parameters on startup without request */ _mavlink_param_queue_index = param_count(); - MavlinkRateLimiter fast_rate_limiter(35000.0f / rate_mult); + MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; @@ -1519,10 +1557,22 @@ Mavlink::task_main(int argc, char *argv[]) } if (fast_rate_limiter.check(t)) { - mavlink_pm_queued_send(); - _mission_manager->eventloop(); - if (!mavlink_logbuffer_is_empty(&_logbuffer)) { + unsigned buf_free = get_free_tx_buf(); + + /* only send messages if they fit the buffer */ + if (buf_free >= (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) { + mavlink_pm_queued_send(); + } + + buf_free = get_free_tx_buf(); + if (buf_free >= (MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) { + _mission_manager->eventloop(); + } + + buf_free = get_free_tx_buf(); + if (buf_free >= (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) && + (!mavlink_logbuffer_is_empty(&_logbuffer))) { struct mavlink_logmessage msg; int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 70d13acb0..e9d6b9c86 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -248,6 +248,13 @@ public: void count_rxbytes(unsigned n) { _bytes_rx += n; }; /** + * Get the free space in the transmit buffer + * + * @return free space in the UART TX buffer + */ + unsigned get_free_tx_buf(); + + /** * Get the receive status of this MAVLink link */ struct telemetry_status_s& get_rx_status() { return _rstatus; } @@ -292,7 +299,8 @@ private: bool _ftp_on; int _uart_fd; int _baudrate; - int _datarate; + int _datarate; ///< data rate for normal streams (attitude, position, etc.) + int _datarate_events; ///< data rate for params, waypoints, text messages /** * If the queue index is not at 0, the queue sending @@ -385,6 +393,13 @@ private: int configure_stream(const char *stream_name, const float rate); + /** + * Adjust the stream rates based on the current rate + * + * @param multiplier if greater than 1, the transmission rate will increase, if smaller than one decrease + */ + void adjust_stream_rates(const float multiplier); + int message_buffer_init(int size); void message_buffer_destroy(); diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h index 20e1c7c44..f539d225b 100644 --- a/src/modules/mavlink/mavlink_stream.h +++ b/src/modules/mavlink/mavlink_stream.h @@ -56,7 +56,20 @@ public: MavlinkStream(); virtual ~MavlinkStream(); + + /** + * Get the interval + * + * @param interval the inveral in microseconds (us) between messages + */ void set_interval(const unsigned int interval); + + /** + * Get the interval + * + * @return the inveral in microseconds (us) between messages + */ + unsigned get_interval() { return _interval; } void set_channel(mavlink_channel_t channel); /** |