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APM: much faster parameter fetching

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allow up to 30% of bandwidth to be used for parameter send
This commit is contained in:
Andrew Tridgell 2012-09-20 07:29:23 +10:00
parent 8a33e2ba37
commit e28ddb0f3d
2 changed files with 36 additions and 19 deletions
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1
ArduPlane/GCS.h
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@ -153,6 +153,7 @@ private:
uint16_t _queued_parameter_count; ///< saved count of
// parameters for
// queued send
uint32_t _queued_parameter_send_time_ms;
/// Count the number of reportable parameters.
///

54
ArduPlane/GCS_Mavlink.pde
View File

@ -1989,31 +1989,47 @@ GCS_MAVLINK::_count_parameters()
void
GCS_MAVLINK::queued_param_send()
{
// Check to see if we are sending parameters
if (NULL == _queued_parameter) return;
if (_queued_parameter == NULL) {
return;
}
AP_Param *vp;
float value;
uint16_t bytes_allowed;
uint8_t count;
uint32_t tnow = millis();
// copy the current parameter and prepare to move to the next
vp = _queued_parameter;
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
bytes_allowed = g.serial3_baud * (tnow - _queued_parameter_send_time_ms) * 26;
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
// if the parameter can be cast to float, report it here and break out of the loop
value = vp->cast_to_float(_queued_parameter_type);
while (_queued_parameter != NULL && count--) {
AP_Param *vp;
float value;
char param_name[ONBOARD_PARAM_NAME_LENGTH];
vp->copy_name(param_name, sizeof(param_name), true);
// copy the current parameter and prepare to move to the next
vp = _queued_parameter;
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(_queued_parameter_type),
_queued_parameter_count,
_queued_parameter_index);
// if the parameter can be cast to float, report it here and break out of the loop
value = vp->cast_to_float(_queued_parameter_type);
_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index++;
char param_name[ONBOARD_PARAM_NAME_LENGTH];
vp->copy_name(param_name, sizeof(param_name), true);
mavlink_msg_param_value_send(
chan,
param_name,
value,
mav_var_type(_queued_parameter_type),
_queued_parameter_count,
_queued_parameter_index);
_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
_queued_parameter_index++;
}
_queued_parameter_send_time_ms = tnow;
}
/**