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AP_Volz_Protocol: rate limit logs to 5Hz

This commit is contained in:
Iampete1 2024-08-15 18:19:24 +01:00 committed by Andrew Tridgell
parent 441dba493f
commit baf41ae92e
2 changed files with 7 additions and 4 deletions
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10
libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
View File

@ -376,11 +376,13 @@ void AP_Volz_Protocol::update()
servo_pwm[i] = (pwm == 0) ? c->get_trim() : pwm;
}
// take semaphore and log all channels
#if HAL_LOGGING_ENABLED
{
// take semaphore and log all channels at 5 Hz
const uint32_t now_ms = AP_HAL::millis();
if ((now_ms - telem.last_log_ms) > 200) {
telem.last_log_ms = now_ms;
WITH_SEMAPHORE(telem.sem);
const uint32_t now_ms = AP_HAL::millis();
for (uint8_t i=0; i<ARRAY_SIZE(telem.data); i++) {
if ((telem.data[i].last_response_ms == 0) || ((now_ms - telem.data[i].last_response_ms) > 5000)) {
// Never seen telem, or not had a response for more than 5 seconds
@ -417,7 +419,7 @@ void AP_Volz_Protocol::update()
);
}
}
#endif
#endif // HAL_LOGGING_ENABLED
}
// Return the crc for a given command packet

1
libraries/AP_Volz_Protocol/AP_Volz_Protocol.h
View File

@ -143,6 +143,7 @@ private:
uint16_t motor_temp_deg;
uint16_t pcb_temp_deg;
} data[NUM_SERVO_CHANNELS];
uint32_t last_log_ms;
} telem;
#endif