Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-12 09:33:59 -03:00
Code Issues Packages Projects Releases Wiki Activity

AP_Logger: added RATEMAX for mavlink and block backends

Browse Source
This commit is contained in:
Andrew Tridgell 2021-07-28 16:52:35 +10:00
parent 4dfe750d71
commit d0969a4476
4 changed files with 33 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/AP_Logger/AP_Logger.cpp
View File

@ -116,13 +116,33 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
AP_GROUPINFO("_FILE_MB_FREE", 7, AP_Logger, _params.min_MB_free, 500), AP_GROUPINFO("_FILE_MB_FREE", 7, AP_Logger, _params.min_MB_free, 500),
// @Param: _FILE_RATEMAX // @Param: _FILE_RATEMAX
// @DisplayName: Maximum logging rate // @DisplayName: Maximum logging rate for file backend
// @Description: This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means // @Description: This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means
// @Units: Hz // @Units: Hz
// @Range: 0 1000 // @Range: 0 1000
// @User: Standard // @User: Standard
AP_GROUPINFO("_FILE_RATEMAX", 8, AP_Logger, _params.file_ratemax, 0), AP_GROUPINFO("_FILE_RATEMAX", 8, AP_Logger, _params.file_ratemax, 0),
#if HAL_LOGGING_MAVLINK_ENABLED
// @Param: _MAV_RATEMAX
// @DisplayName: Maximum logging rate for mavlink backend
// @Description: This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means
// @Units: Hz
// @Range: 0 1000
// @User: Standard
AP_GROUPINFO("_MAV_RATEMAX", 9, AP_Logger, _params.mav_ratemax, 0),
#endif
#if HAL_LOGGING_BLOCK_ENABLED
// @Param: _BLK_RATEMAX
// @DisplayName: Maximum logging rate for block backend
// @Description: This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means
// @Units: Hz
// @Range: 0 1000
// @User: Standard
AP_GROUPINFO("_BLK_RATEMAX", 10, AP_Logger, _params.blk_ratemax, 0),
#endif
AP_GROUPEND AP_GROUPEND
}; };

2
libraries/AP_Logger/AP_Logger.h
View File

@ -388,6 +388,8 @@ public:
AP_Int16 file_timeout; // in seconds AP_Int16 file_timeout; // in seconds
AP_Int16 min_MB_free; AP_Int16 min_MB_free;
AP_Float file_ratemax; AP_Float file_ratemax;
AP_Float mav_ratemax;
AP_Float blk_ratemax;
} _params; } _params;
const struct LogStructure *structure(uint16_t num) const; const struct LogStructure *structure(uint16_t num) const;

5
libraries/AP_Logger/AP_Logger_Block.cpp
View File

@ -303,6 +303,11 @@ void AP_Logger_Block::periodic_1Hz()
{ {
AP_Logger_Backend::periodic_1Hz(); AP_Logger_Backend::periodic_1Hz();
if (rate_limiter == nullptr && _front._params.blk_ratemax > 0) {
// setup rate limiting
rate_limiter = new AP_Logger_RateLimiter(_front, _front._params.blk_ratemax);
}
if (!io_thread_alive()) { if (!io_thread_alive()) {
if (warning_decimation_counter == 0 && _initialised) { if (warning_decimation_counter == 0 && _initialised) {
// we don't print this error unless we did initialise. When _initialised is set to true // we don't print this error unless we did initialise. When _initialised is set to true

5
libraries/AP_Logger/AP_Logger_MAVLink.cpp
View File

@ -524,6 +524,11 @@ void AP_Logger_MAVLink::periodic_10Hz(const uint32_t now)
} }
void AP_Logger_MAVLink::periodic_1Hz() void AP_Logger_MAVLink::periodic_1Hz()
{ {
if (rate_limiter == nullptr && _front._params.mav_ratemax > 0) {
// setup rate limiting
rate_limiter = new AP_Logger_RateLimiter(_front, _front._params.mav_ratemax);
}
if (_sending_to_client && if (_sending_to_client &&
_last_response_time + 10000 < _last_send_time) { _last_response_time + 10000 < _last_send_time) {
// other end appears to have timed out! // other end appears to have timed out!