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AP_RCTelemetry: apply a 5s hysteresis to RF mode changes and rate reporting

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yaapu 2020-12-21 22:41:26 +01:00 committed by Peter Barker
parent 23158480c7
commit ecfcd98f8a
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
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@ -148,10 +148,10 @@ void AP_CRSF_Telem::process_rf_mode_changes()
{
const AP_RCProtocol_CRSF::RFMode current_rf_mode = get_rf_mode();
uint32_t now = AP_HAL::millis();
if ( _telem_rf_mode != current_rf_mode
// report a change of more than 10Hz if we haven't done so in the last 5s
|| (now - _telem_last_report_ms > 5000 && abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 10)) {
gcs().send_text(MAV_SEVERITY_INFO, "CRSF: rf mode change %d->%d, rate is %dHz", (uint8_t)_telem_rf_mode, (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
// report a change in RF mode or a chnage of more than 10Hz if we haven't done so in the last 5s
if ((now - _telem_last_report_ms > 5000) &&
(_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) {
gcs().send_text(MAV_SEVERITY_INFO, "CRSF: RF mode %d, rate is %dHz", (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
update_custom_telemetry_rates(current_rf_mode);
_telem_rf_mode = current_rf_mode;
_telem_last_avg_rate = _scheduler.avg_packet_rate;