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MAVLink transmission: Allow faster overall transmissions.

This commit is contained in:
Lorenz Meier 2015-05-15 09:42:35 +02:00
parent 4fb91f47cd
commit f154f6e5e7
3 changed files with 8 additions and 8 deletions
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2
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -3,7 +3,7 @@
# USB MAVLink start
#
mavlink start -r 30000 -d /dev/ttyACM0 -x
mavlink start -r 80000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50

2
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -664,7 +664,7 @@ CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=512
CONFIG_CDCACM_TXBUFSIZE=2048
CONFIG_CDCACM_TXBUFSIZE=4096
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0011
CONFIG_CDCACM_VENDORSTR="3D Robotics"

12
src/modules/mavlink/mavlink_main.cpp
View File

@ -90,7 +90,7 @@
static const int ERROR = -1;
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 60000 ///< max data rate in bytes/s
#define MAX_DATA_RATE 1000000 ///< max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate
#define FLOW_CONTROL_DISABLE_THRESHOLD 40 ///< picked so that some messages still would fit it.
@ -990,7 +990,7 @@ void
Mavlink::adjust_stream_rates(const float multiplier)
{
/* do not allow to push us to zero */
if (multiplier < 0.01f) {
if (multiplier < 0.0005f) {
return;
}
@ -1001,9 +1001,9 @@ Mavlink::adjust_stream_rates(const float multiplier)
unsigned interval = stream->get_interval();
interval /= multiplier;
/* allow max ~600 Hz */
/* allow max ~2000 Hz */
if (interval < 1600) {
interval = 1600;
interval = 500;
}
/* set new interval */
@ -1375,7 +1375,7 @@ Mavlink::task_main(int argc, char *argv[])
/* MAVLINK_FTP stream */
_mavlink_ftp = (MavlinkFTP *) MavlinkFTP::new_instance(this);
_mavlink_ftp->set_interval(interval_from_rate(120.0f));
_mavlink_ftp->set_interval(interval_from_rate(1000.0f));
LL_APPEND(_streams, _mavlink_ftp);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
@ -1425,7 +1425,7 @@ Mavlink::task_main(int argc, char *argv[])
}
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY * 1000 / _datarate;
_main_loop_delay = (MAIN_LOOP_DELAY * 1000) / _datarate;
/* now the instance is fully initialized and we can bump the instance count */
LL_APPEND(_mavlink_instances, this);