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AP_Volz_Protocol: add a 30% safety margin over baudrate

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we don't want to fill the buffer if we don't get full uart utilisation
This commit is contained in:
Andrew Tridgell 2017-11-04 20:40:23 +11:00
parent 329dbff8da
commit e0d383c986
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
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@ -142,9 +142,14 @@ void AP_Volz_Protocol::update_volz_bitmask(uint32_t new_bitmask)
}
}
// have a safety margin of 20% to allow for not having full uart
// utilisation. We really don't want to start filling the uart
// buffer or we'll end up with servo lag
const float safety = 1.3;
// each channel take about 425.347us to transmit so total time will be ~ number of channels * 450us
// rounded to 450 to make sure we don't go over the baud rate.
uint64_t channels_micros = count * 450;
uint32_t channels_micros = count * 450 * safety;
// limit the minimum to 2500 will result a max refresh frequency of 400hz.
if (channels_micros < 2500) {