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Avoid logging an S frame at the same time as an I frame unless req'd

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This reduces our instantaneous data rate
This commit is contained in:
Nicholas Sherlock 2015-05-18 11:53:13 +12:00
parent 0811367f24
commit 505b75ce2d
1 changed files with 16 additions and 6 deletions
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22
src/main/blackbox/blackbox.c
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@ -703,10 +703,16 @@ static void loadSlowState(blackboxSlowState_t *slow)
slow->failsafePhase = failsafePhase();
}
static void writeSlowFrameIfNeeded(void)
/**
* If the data in the slow frame has changed, log a slow frame.
*
* If allowPeriodicWrite is true, the frame is also logged if it has been more than SLOW_FRAME_INTERVAL logging iterations
* since the field was last logged.
*/
static void writeSlowFrameIfNeeded(bool allowPeriodicWrite)
{
// Write the slow frame peridocially so it can be recovered if we ever lose sync
bool shouldWrite = blackboxSlowFrameIterationTimer >= SLOW_FRAME_INTERVAL;
bool shouldWrite = allowPeriodicWrite && blackboxSlowFrameIterationTimer >= SLOW_FRAME_INTERVAL;
if (shouldWrite) {
loadSlowState(&slowHistory);
@ -1166,10 +1172,10 @@ static void blackboxLogIteration()
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
if (blackboxPFrameIndex == 0) {
/*
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
* So only log slow frames during loop iterations where we log a main frame.
* Don't log a slow frame if the slow data didn't change ("I" frames are already large enough without adding
* an additional item to write at the same time)
*/
writeSlowFrameIfNeeded();
writeSlowFrameIfNeeded(false);
loadMainState();
writeIntraframe();
@ -1177,7 +1183,11 @@ static void blackboxLogIteration()
blackboxCheckAndLogArmingBeep();
if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
writeSlowFrameIfNeeded();
/*
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
* So only log slow frames during loop iterations where we log a main frame.
*/
writeSlowFrameIfNeeded(true);
loadMainState();
writeInterframe();