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AP_RCProtocol: add tracer 250Hz mode

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This commit is contained in:
Andy Piper 2020-12-21 18:13:58 +00:00 committed by Peter Barker
parent 79640e5d94
commit f6a2d20579
2 changed files with 4 additions and 2 deletions
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5
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
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@ -98,7 +98,8 @@ static const char* get_frame_type(uint8_t byte)
#endif
#define CRSF_MAX_FRAME_TIME_US 1100U // 700us + 400us for potential ad-hoc request
#define CRSF_INTER_FRAME_TIME_US_150HZ 6667U // At fastest, frames are sent by the transmitter every 6.667 ms, 150 Hz
#define CRSF_INTER_FRAME_TIME_US_250HZ 4000U // At fastest, frames are sent by the transmitter every 4 ms, 250 Hz
#define CRSF_INTER_FRAME_TIME_US_150HZ 6667U // At medium, frames are sent by the transmitter every 6.667 ms, 150 Hz
#define CRSF_INTER_FRAME_TIME_US_50HZ 20000U // At slowest, frames are sent by the transmitter every 20ms, 50 Hz
#define CSRF_HEADER_LEN 2
@ -230,7 +231,7 @@ void AP_RCProtocol_CRSF::update(void)
// never received RC frames, but have received CRSF frames so make sure we give the telemetry opportunity to run
uint32_t now = AP_HAL::micros();
if (_last_frame_time_us > 0 && !get_rc_frame_count() && now - _last_frame_time_us > CRSF_INTER_FRAME_TIME_US_150HZ) {
if (_last_frame_time_us > 0 && !get_rc_frame_count() && now - _last_frame_time_us > CRSF_INTER_FRAME_TIME_US_250HZ) {
process_telemetry(false);
_last_frame_time_us = now;
}

1
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
View File

@ -175,6 +175,7 @@ public:
CRSF_RF_MODE_4HZ = 0,
CRSF_RF_MODE_50HZ,
CRSF_RF_MODE_150HZ,
CRSF_RF_MODE_250HZ,
CRSF_RF_MODE_UNKNOWN,
};