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Code Issues Wiki Activity

Refactor Rx code and better support 25Hz links (#13435)

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* RX task update rate to 22Hz, to improve 25Hz link stability

* modified Rx code

* add LQ to debug

* use max of frameAge or FrameDelta

* Require a dropouit of 200ms, not 100ms, before RXLOSS

* remove FrameAge, use 150ms timeout 50ms checks

* fix tests and tidy up the comments

* Handle NULL input as before, log frame time

* possible solutions to review comment about names

* Remove rxFrameTimeUs

- prepare for direct use of lastRcFrameTimeUs
- refactor rx_spi callback

* remove global currentRxRateHz

* simplify updateRcRefreshRate

* re-name to recheck interval, return frame time debug

* Calculate RxRate only once

* use rxReceivingSignal for consistency

* use signalReceived not rxDataReceived for consistency

* suggestions from review PL

* move defines, thanks K

* fixes from review, thanks MH

* review changes, undo task interval change

rename bool rxIsReceivingSignal to isRxReceivingSignal
thanks Steve for resolving that tasks changes are not needed
thanks PL for your feedback also

---------

Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>
This commit is contained in:
ctzsnooze 2024-10-01 09:23:24 +10:00 • committed by GitHub
parent a37bd7c974
commit 776e8c7b3c
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GPG key ID: B5690EEEBB952194
29 changed files with 108 additions and 116 deletions
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14
src/main/cli/cli.c
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@ -4770,10 +4770,9 @@ if (buildKey) {
// Run status
const int gyroRate = getTaskDeltaTimeUs(TASK_GYRO) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTimeUs(TASK_GYRO)));
int rxRate = getCurrentRxIntervalUs();
if (rxRate != 0) {
rxRate = (int)(1000000.0f / ((float)rxRate));
}
int rxRate = getRxRateValid() ? getCurrentRxRateHz() : 0;
const int systemRate = getTaskDeltaTimeUs(TASK_SYSTEM) == 0 ? 0 : (int)(1000000.0f / ((float)getTaskDeltaTimeUs(TASK_SYSTEM)));
cliPrintLinef("CPU:%d%%, cycle time: %d, GYRO rate: %d, RX rate: %d, System rate: %d",
constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE), getTaskDeltaTimeUs(TASK_GYRO), gyroRate, rxRate, systemRate);
@ -4960,12 +4959,11 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
if (rxConfig()->rc_smoothing_mode) {
cliPrintLine("FILTER");
if (rcSmoothingAutoCalculate()) {
const uint16_t smoothedRxRateHz = lrintf(rcSmoothingData->smoothedRxRateHz);
cliPrint("# Detected Rx frequency: ");
if (getCurrentRxIntervalUs() == 0) {
cliPrintLine("NO SIGNAL");
if (getRxRateValid()) {
cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
} else {
cliPrintLinef("%dHz", smoothedRxRateHz);
cliPrintLine("NO SIGNAL");
}
}
cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);