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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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29 changed files with 108 additions and 116 deletions
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4
src/test/unit/vtx_unittest.cc
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@ -130,7 +130,7 @@ extern "C" {
uint8_t activePidLoopDenom = 1;
uint32_t micros(void) { return simulationTime; }
uint32_t millis(void) { return micros() / 1000; }
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
bool isRxReceivingSignal(void) { return simulationHaveRx; }
bool featureIsEnabled(uint32_t f) { return simulationFeatureFlags & f; }
void warningLedFlash(void) {}
@ -202,7 +202,7 @@ extern "C" {
bool isUpright(void) { return true; }
void blackboxLogEvent(FlightLogEvent, union flightLogEventData_u *) {};
void gyroFiltering(timeUs_t) {};
timeDelta_t rxGetFrameDelta(timeDelta_t *) { return 0; }
timeDelta_t rxGetFrameDelta() { return 0; }
void updateRcRefreshRate(timeUs_t) {};
uint16_t getAverageSystemLoadPercent(void) { return 0; }
bool isMotorProtocolEnabled(void) { return false; }