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mavlink: don't scale up rates, debug output removed

This commit is contained in:
Anton Babushkin 2014-07-25 14:27:07 +02:00
parent 8f0af1c5fe
commit 1938ef16e3
1 changed files with 6 additions and 6 deletions
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12
src/modules/mavlink/mavlink_main.cpp
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@ -610,6 +610,9 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
if (enable_flow_control(true)) {
warnx("hardware flow control not supported");
}
} else {
_flow_control_enabled = false;
}
return _uart_fd;
@ -651,8 +654,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
/* enable HIL */
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
float rate_mult = _datarate / 1000.0f;
configure_stream("HIL_CONTROLS", 15.0f * rate_mult);
configure_stream("HIL_CONTROLS", 150.0f);
}
/* disable HIL */
@ -710,7 +712,6 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
warnx("SKIP msgid %i, %i bytes, free %i", msgid, packet_len, buf_free);
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@ -769,7 +770,6 @@ Mavlink::resend_message(mavlink_message_t *msg)
/* check if there is space in the buffer, let it overflow else */
if (buf_free < TX_BUFFER_GAP) {
warnx("SKIP resent msgid %i, %i bytes, free %i", msg->msgid, packet_len, buf_free);
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@ -1120,7 +1120,8 @@ Mavlink::update_rate_mult()
}
}
_rate_mult = ((float)_datarate - const_rate) / rate;
/* don't scale up rates, only scale down if needed */
_rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate);
}
int
@ -1364,7 +1365,6 @@ Mavlink::task_main(int argc, char *argv[])
hrt_abstime t = hrt_absolute_time();
update_rate_mult();
warnx("rate mult %.2f rate %.3f err %.3f", (double)_rate_mult, (double)_rate_tx, (double)_rate_txerr);
if (param_sub->update(&param_time, nullptr)) {
/* parameters updated */