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AP_Frsky_SPort: reduce acceptable response delay to 6500us

This commit is contained in:
yaapu 2020-10-01 11:43:18 +10:00 committed by Andrew Tridgell
parent 33f19eec27
commit a4297bcdd7
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
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@ -191,14 +191,13 @@ void AP_Frsky_SPort::send_sport_frame(uint8_t frame, uint16_t appid, uint32_t d
check that we haven't been too slow in responding to the new
UART data. If we respond too late then we will overwrite the next
polling frame.
SPort poll-to-pool period is 11.65ms, a frame takes 1.38ms
this leaves us with up to 10ms to respond but to play it safe we
allow no more than 7500us
SPort poll-to-poll period is 11.65ms, a frame takes 1.38ms
but specs require we release the bus before 8ms leaving us with 6500us
*/
uint64_t tend = _port->receive_time_constraint_us(1);
uint64_t now = AP_HAL::micros64();
uint64_t tdelay = now - tend;
if (tdelay > 7500) {
const uint64_t tend_us = port->receive_time_constraint_us(1);
const uint64_t now_us = AP_HAL::micros64();
const uint64_t tdelay_us = now_us - tend_us;
if (tdelay_us > 6500) {
// we've been too slow in responding
return;
}