From baf41ae92eccdc2b8893513ad639a632be08fc09 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Thu, 15 Aug 2024 18:19:24 +0100
Subject: [PATCH] AP_Volz_Protocol: rate limit logs to 5Hz

---
 libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp | 10 ++++++----
 libraries/AP_Volz_Protocol/AP_Volz_Protocol.h   |  1 +
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
index 3c34a4f519..43f1c17feb 100644
--- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
+++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
@@ -376,11 +376,13 @@ void AP_Volz_Protocol::update()
         servo_pwm[i] = (pwm == 0) ? c->get_trim() : pwm;
     }
 
-    // take semaphore and log all channels
 #if HAL_LOGGING_ENABLED
-    {
+    // take semaphore and log all channels at 5 Hz
+    const uint32_t now_ms = AP_HAL::millis();
+    if ((now_ms - telem.last_log_ms) > 200) {
+        telem.last_log_ms = now_ms;
+
         WITH_SEMAPHORE(telem.sem);
-        const uint32_t now_ms = AP_HAL::millis();
         for (uint8_t i=0; i<ARRAY_SIZE(telem.data); i++) {
             if ((telem.data[i].last_response_ms == 0) || ((now_ms - telem.data[i].last_response_ms) > 5000)) {
                 // Never seen telem, or not had a response for more than 5 seconds
@@ -417,7 +419,7 @@ void AP_Volz_Protocol::update()
             );
         }
     }
-#endif
+#endif // HAL_LOGGING_ENABLED
 }
 
 // Return the crc for a given command packet
diff --git a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h
index 417cf01486..02b18fc4ea 100644
--- a/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h
+++ b/libraries/AP_Volz_Protocol/AP_Volz_Protocol.h
@@ -143,6 +143,7 @@ private:
             uint16_t motor_temp_deg;
             uint16_t pcb_temp_deg;
         } data[NUM_SERVO_CHANNELS];
+        uint32_t last_log_ms;
     } telem;
 #endif