From 1938ef16e39ff937a3076489f3eff0a2eb4bbb65 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 25 Jul 2014 14:27:07 +0200 Subject: mavlink: don't scale up rates, debug output removed --- src/modules/mavlink/mavlink_main.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'src/modules/mavlink/mavlink_main.cpp') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index aaee0455a..572d5c19b 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -610,6 +610,9 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * if (enable_flow_control(true)) { warnx("hardware flow control not supported"); } + + } else { + _flow_control_enabled = false; } return _uart_fd; @@ -651,8 +654,7 @@ Mavlink::set_hil_enabled(bool hil_enabled) /* enable HIL */ if (hil_enabled && !_hil_enabled) { _hil_enabled = true; - float rate_mult = _datarate / 1000.0f; - configure_stream("HIL_CONTROLS", 15.0f * rate_mult); + configure_stream("HIL_CONTROLS", 150.0f); } /* disable HIL */ @@ -710,7 +712,6 @@ Mavlink::send_message(const uint8_t msgid, const void *msg) /* check if there is space in the buffer, let it overflow else */ if (buf_free < TX_BUFFER_GAP) { - warnx("SKIP msgid %i, %i bytes, free %i", msgid, packet_len, buf_free); /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -769,7 +770,6 @@ Mavlink::resend_message(mavlink_message_t *msg) /* check if there is space in the buffer, let it overflow else */ if (buf_free < TX_BUFFER_GAP) { - warnx("SKIP resent msgid %i, %i bytes, free %i", msg->msgid, packet_len, buf_free); /* no enough space in buffer to send */ count_txerr(); count_txerrbytes(packet_len); @@ -1120,7 +1120,8 @@ Mavlink::update_rate_mult() } } - _rate_mult = ((float)_datarate - const_rate) / rate; + /* don't scale up rates, only scale down if needed */ + _rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate); } int @@ -1364,7 +1365,6 @@ Mavlink::task_main(int argc, char *argv[]) hrt_abstime t = hrt_absolute_time(); update_rate_mult(); - warnx("rate mult %.2f rate %.3f err %.3f", (double)_rate_mult, (double)_rate_tx, (double)_rate_txerr); if (param_sub->update(¶m_time, nullptr)) { /* parameters updated */ -- cgit v1.2.3