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GCS_MAVLink: sped up downloading DF logs over MAVLink

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This commit is contained in:
Andrew Tridgell 2013-12-28 14:25:07 +11:00
parent e1a86440bb
commit efc7f88e4b
2 changed files with 10 additions and 9 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -273,7 +273,7 @@ private:
void handle_log_message(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_send(DataFlash_Class &dataflash);
void handle_log_send_listing(DataFlash_Class &dataflash);
void handle_log_send_data(DataFlash_Class &dataflash);
bool handle_log_send_data(DataFlash_Class &dataflash);
};

17
libraries/GCS_MAVLink/GCS_Logs.cpp
View File

@ -113,7 +113,7 @@ void GCS_MAVLINK::handle_log_request_data(mavlink_message_t *msg, DataFlash_Clas
}
_log_sending = true;
handle_log_send_data(dataflash);
handle_log_send(dataflash);
}
/**
@ -127,7 +127,7 @@ void GCS_MAVLINK::handle_log_send(DataFlash_Class &dataflash)
uint8_t num_sends = 1;
if (chan == MAVLINK_COMM_0 && hal.gpio->usb_connected()) {
// when on USB we can send a lot more data
num_sends = 20;
num_sends = 30;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@ -141,7 +141,7 @@ void GCS_MAVLINK::handle_log_send(DataFlash_Class &dataflash)
}
for (uint8_t i=0; i<num_sends; i++) {
if (_log_sending) {
handle_log_send_data(dataflash);
if (!handle_log_send_data(dataflash)) break;
}
}
}
@ -174,16 +174,16 @@ void GCS_MAVLINK::handle_log_send_listing(DataFlash_Class &dataflash)
/**
trigger sending of log data if there are some pending
*/
void GCS_MAVLINK::handle_log_send_data(DataFlash_Class &dataflash)
bool GCS_MAVLINK::handle_log_send_data(DataFlash_Class &dataflash)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space < MAVLINK_MSG_ID_LOG_DATA_LEN) {
// no space
return;
return false;
}
if (hal.scheduler->millis() - last_heartbeat_time > 3000) {
// give a heartbeat a chance
return;
return false;
}
int16_t ret = 0;
@ -199,12 +199,13 @@ void GCS_MAVLINK::handle_log_send_data(DataFlash_Class &dataflash)
ret = 0;
}
if (ret < 90) {
memset(data+ret, 0, 90-ret);
memset(&data[ret], 0, 90-ret);
}
mavlink_msg_log_data_send(chan, _log_num_data, _log_data_offset, ret, data);
_log_data_offset += len;
_log_data_remaining -= len;
if (len < 90 || _log_data_remaining == 0) {
if (ret < 90 || _log_data_remaining == 0) {
_log_sending = false;
}
return true;
}