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AP_Frsky_SPort: reduce acceptable response delay to 6500us

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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 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 UART data. If we respond too late then we will overwrite the next
polling frame. polling frame.
SPort poll-to-pool period is 11.65ms, a frame takes 1.38ms SPort poll-to-poll period is 11.65ms, a frame takes 1.38ms
this leaves us with up to 10ms to respond but to play it safe we but specs require we release the bus before 8ms leaving us with 6500us
allow no more than 7500us
*/ */
uint64_t tend = _port->receive_time_constraint_us(1); const uint64_t tend_us = port->receive_time_constraint_us(1);
uint64_t now = AP_HAL::micros64(); const uint64_t now_us = AP_HAL::micros64();
uint64_t tdelay = now - tend; const uint64_t tdelay_us = now_us - tend_us;
if (tdelay > 7500) { if (tdelay_us > 6500) {
// we've been too slow in responding // we've been too slow in responding
return; return;
} }