dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

MAVLink app: Make bandwidth scaling depending on the TX error as well

This commit is contained in:
Lorenz Meier 2015-07-31 20:06:23 +02:00
parent d19718a23b
commit 10a6a59498
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/mavlink/mavlink_main.cpp
View File

@ -1232,6 +1232,7 @@ Mavlink::update_rate_mult()
float const_rate = 0.0f;
float rate = 0.0f;
/* scale down rates if their theoretical bandwidth is exceeding the link bandwidth */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
if (stream->const_rate()) {
@ -1244,6 +1245,11 @@ Mavlink::update_rate_mult()
/* don't scale up rates, only scale down if needed */
_rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate);
/* scale down if we have a TX err rate suggesting link congestion */
if (_rate_txerr > 0.0f) {
_rate_mult = (_rate_tx) / (_rate_tx + _rate_txerr);
}
}
int