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MAVLink: don't waste 100 bytes of bandwidth sending 1 byte of information 

the GPS_STATUS message is a massive waste of bandwidth, but it is the
only message that tells us the number of visible satellites. So only
send it if that information changes.

This makes MAVLink work better at low baud rates
This commit is contained in:
Andrew Tridgell 2012-03-30 17:22:48 +11:00
parent e9773ea09c
commit 1e0a2fb0be
4 changed files with 26 additions and 3 deletions
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4
ArduCopter/GCS.h
View File

@ -43,6 +43,7 @@ public:
void init(FastSerial *port) {
_port = port;
initialised = true;
last_gps_satellites = 255;
}
/// Update GCS state.
@ -89,6 +90,9 @@ public:
// set to true if this GCS link is active
bool initialised;
// used to prevent wasting bandwidth with GPS_STATUS messages
uint8_t last_gps_satellites;
protected:
/// The stream we are communicating over
FastSerial *_port;

11
ArduCopter/GCS_Mavlink.pde
View File

@ -697,11 +697,18 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
if (freqLoopMatch(streamRateExtendedStatus, freqMin, freqMax)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
send_message(MSG_GPS_STATUS);
send_message(MSG_CURRENT_WAYPOINT);
send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working
send_message(MSG_NAV_CONTROLLER_OUTPUT);
//Serial.printf("mav2 %d\n", (int)streamRateExtendedStatus.get());
if (last_gps_satellites != g_gps->num_sats) {
// this message is mostly a huge waste of bandwidth,
// except it is the only message that gives the number
// of visible satellites. So only send it when that
// changes.
send_message(MSG_GPS_STATUS);
last_gps_satellites = g_gps->num_sats;
}
}
if (freqLoopMatch(streamRatePosition, freqMin, freqMax)) {

4
ArduPlane/GCS.h
View File

@ -43,6 +43,7 @@ public:
void init(FastSerial *port) {
_port = port;
initialised = true;
last_gps_satellites = 255;
}
/// Update GCS state.
@ -89,6 +90,9 @@ public:
// set to true if this GCS link is active
bool initialised;
// used to prevent wasting bandwidth with GPS_STATUS messages
uint8_t last_gps_satellites;
protected:
/// The stream we are communicating over
FastSerial *_port;

10
ArduPlane/GCS_Mavlink.pde
View File

@ -900,11 +900,19 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
if (freqLoopMatch(streamRateExtendedStatus, freqMin, freqMax)) {
send_message(MSG_EXTENDED_STATUS1);
send_message(MSG_EXTENDED_STATUS2);
send_message(MSG_GPS_STATUS);
send_message(MSG_CURRENT_WAYPOINT);
send_message(MSG_GPS_RAW); // TODO - remove this message after location message is working
send_message(MSG_NAV_CONTROLLER_OUTPUT);
send_message(MSG_FENCE_STATUS);
if (last_gps_satellites != g_gps->num_sats) {
// this message is mostly a huge waste of bandwidth,
// except it is the only message that gives the number
// of visible satellites. So only send it when that
// changes.
send_message(MSG_GPS_STATUS);
last_gps_satellites = g_gps->num_sats;
}
}
if (freqLoopMatch(streamRatePosition, freqMin, freqMax)) {