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GCS_MAVLink: scale parameter send rate according to link bandwidth

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This commit is contained in:
Peter Barker 2018-04-06 11:59:40 +10:00 committed by Peter Barker
parent aed3527fb7
commit 1eac03a257
1 changed files with 8 additions and 2 deletions
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10
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -53,11 +53,17 @@ GCS_MAVLINK::queued_param_send()
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
bytes_allowed = 57 * (tnow - _queued_parameter_send_time_ms) * 26;
const uint32_t link_bw = _port->bw_in_kilobytes_per_second();
bytes_allowed = link_bw * (tnow - _queued_parameter_send_time_ms) * 26;
const uint16_t size_for_one_param_value_msg = MAVLINK_MSG_ID_PARAM_VALUE_LEN + packet_overhead();
if (bytes_allowed < size_for_one_param_value_msg) {
bytes_allowed = size_for_one_param_value_msg;
}
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + packet_overhead());
count = bytes_allowed / size_for_one_param_value_msg;
// when we don't have flow control we really need to keep the
// param download very slow, or it tends to stall