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Copter: tweak the serial buffer sizes

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we only need the large buffers for HIL
This commit is contained in:
Andrew Tridgell 2013-01-11 10:31:55 +11:00
parent bea9a9d558
commit 585459ece9
1 changed files with 8 additions and 2 deletions
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10
ArduCopter/system.pde
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@ -89,7 +89,13 @@ static void init_ardupilot()
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
hal.uartA->begin(SERIAL0_BAUD, 128, 256);
#if HIL_MODE != HIL_MODE_DISABLED
// we need more memory for HIL, as we get a much higher packet rate
hal.uartA->begin(SERIAL0_BAUD, 256, 256);
#else
// use a bit less for non-HIL operation
hal.uartA->begin(SERIAL0_BAUD, 128, 128);
#endif
// GPS serial port.
//
@ -163,7 +169,7 @@ static void init_ardupilot()
}
#else
// we have a 2nd serial port for telemetry
hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
hal.uartC->begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 128);
gcs3.init(hal.uartC);
#endif