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AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages

This commit is contained in:
Hwurzburg 2021-07-12 13:24:51 -05:00 committed by Randy Mackay
parent 2ef5a9170e
commit a09f38b195
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
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@ -165,7 +165,9 @@ void AP_CRSF_Telem::process_rf_mode_changes()
// report a change in RF mode or a chnage of more than 10Hz if we haven't done so in the last 5s
if ((now - _telem_last_report_ms > 5000) &&
(_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) {
gcs().send_text(MAV_SEVERITY_INFO, "CRSF: RF mode %d, rate is %dHz", (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
if (!rc().suppress_crsf_message()) {
gcs().send_text(MAV_SEVERITY_INFO, "CRSF: RF mode %d, rate is %dHz", (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
}
update_custom_telemetry_rates(current_rf_mode);
_telem_rf_mode = current_rf_mode;
_telem_last_avg_rate = _scheduler.avg_packet_rate;