Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 00:58:37 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: GCS_Common: correct overflows in bandwidth and count calculations

Browse Source
This commit is contained in:
Peter Barker 2019-03-14 12:11:34 +11:00 committed by Andrew Tridgell
parent 227f6499d3
commit f0200a4d9b
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/GCS_MAVLink/GCS_Param.cpp
View File

@ -39,14 +39,14 @@ GCS_MAVLINK::queued_param_send()
return;
}
uint32_t tnow = AP_HAL::millis();
uint32_t tstart = AP_HAL::micros();
const uint32_t tnow = AP_HAL::millis();
const uint32_t tstart = AP_HAL::micros();
// use at most 30% of bandwidth on parameters. The constant 26 is
// 1/(1000 * 1/8 * 0.001 * 0.3)
const uint32_t link_bw = _port->bw_in_kilobytes_per_second();
uint16_t bytes_allowed = link_bw * (tnow - _queued_parameter_send_time_ms) * 26;
uint32_t bytes_allowed = link_bw * (tnow - _queued_parameter_send_time_ms) * 26;
const uint16_t size_for_one_param_value_msg = MAVLINK_MSG_ID_PARAM_VALUE_LEN + packet_overhead();
if (bytes_allowed < size_for_one_param_value_msg) {
bytes_allowed = size_for_one_param_value_msg;
@ -54,7 +54,7 @@ GCS_MAVLINK::queued_param_send()
if (bytes_allowed > comm_get_txspace(chan)) {
bytes_allowed = comm_get_txspace(chan);
}
uint8_t count = bytes_allowed / size_for_one_param_value_msg;
uint32_t count = bytes_allowed / size_for_one_param_value_msg;
// when we don't have flow control we really need to keep the
// param download very slow, or it tends to stall