5
0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 15:38:29 -04:00

GCS_MAVLink: Make get_last_txbuf() safer

Add check for stale radio_status to get_last_txbuf()
Move last_txbuf into last_radio_status struct
This commit is contained in:
Brad Bosch 2024-01-28 16:25:37 -06:00 committed by Andrew Tridgell
parent 0e47599bb1
commit bbfb0ed001
2 changed files with 12 additions and 3 deletions
libraries/GCS_MAVLink

View File

@ -319,6 +319,7 @@ public:
return last_radio_status.remrssi_ms;
}
static float telemetry_radio_rssi(); // 0==no signal, 1==full signal
static uint8_t get_last_txbuf();
// mission item index to be sent on queued msg, delayed or not
uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;
@ -481,7 +482,6 @@ public:
virtual uint64_t capabilities() const;
uint16_t get_stream_slowdown_ms() const { return stream_slowdown_ms; }
uint8_t get_last_txbuf() const { return last_txbuf; }
MAV_RESULT set_message_interval(uint32_t msg_id, int32_t interval_us);
@ -768,6 +768,7 @@ private:
uint32_t remrssi_ms;
uint8_t rssi;
uint32_t received_ms; // time RADIO_STATUS received
uint8_t txbuf = 100;
} last_radio_status;
enum class Flags {
@ -814,7 +815,6 @@ private:
// number of extra ms to add to slow things down for the radio
uint16_t stream_slowdown_ms;
// last reported radio buffer percent available
uint8_t last_txbuf = 100;
// outbound ("deferred message") queue.

View File

@ -833,6 +833,15 @@ float GCS_MAVLINK::telemetry_radio_rssi()
return last_radio_status.rssi/254.0f;
}
uint8_t GCS_MAVLINK::get_last_txbuf()
{
if (AP_HAL::millis() - last_radio_status.received_ms > 5000) {
// stale report
return 100;
}
return last_radio_status.txbuf;
}
void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg)
{
mavlink_radio_t packet;
@ -849,7 +858,7 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg)
last_radio_status.remrssi_ms = now;
}
last_txbuf = packet.txbuf;
last_radio_status.txbuf = packet.txbuf;
// use the state of the transmit buffer in the radio to
// control the stream rate, giving us adaptive software