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Ensure telemetry/heartbeat at minimum 50Hz

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Ensure that telemetry/heartbeat frames are sent at minimum 50Hz. This is to keep sending at least something at a consistent rate to the rx even if the user disables sensors.
This commit is contained in:
Hans Christian Olaussen 2022-04-02 14:24:17 +02:00
parent 2779607262
commit ee6cd98c78
1 changed files with 21 additions and 0 deletions
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21
src/main/telemetry/crsf.c
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@ -89,6 +89,9 @@ typedef struct mspBuffer_s {
static mspBuffer_t mspRxBuffer; static mspBuffer_t mspRxBuffer;
#if defined(USE_CRSF_V3) #if defined(USE_CRSF_V3)
#define CRSF_TELEMETRY_FRAME_INTERVAL_MAX_US 20000 // 20ms
static bool isCrsfV3Running = false; static bool isCrsfV3Running = false;
typedef struct { typedef struct {
uint8_t hasPendingReply:1; uint8_t hasPendingReply:1;
@ -581,6 +584,7 @@ typedef enum {
CRSF_FRAME_BATTERY_SENSOR_INDEX, CRSF_FRAME_BATTERY_SENSOR_INDEX,
CRSF_FRAME_FLIGHT_MODE_INDEX, CRSF_FRAME_FLIGHT_MODE_INDEX,
CRSF_FRAME_GPS_INDEX, CRSF_FRAME_GPS_INDEX,
CRSF_FRAME_HEARTBEAT_INDEX,
CRSF_SCHEDULE_COUNT_MAX CRSF_SCHEDULE_COUNT_MAX
} crsfFrameTypeIndex_e; } crsfFrameTypeIndex_e;
@ -650,6 +654,15 @@ static void processCrsf(void)
crsfFinalize(dst); crsfFinalize(dst);
} }
#endif #endif
#if defined(USE_CRSF_V3)
if (currentSchedule & BIT(CRSF_FRAME_HEARTBEAT_INDEX)) {
crsfInitializeFrame(dst);
crsfFrameHeartbeat(dst);
crsfFinalize(dst);
}
#endif
crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount; crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
} }
@ -690,6 +703,14 @@ void initCrsfTelemetry(void)
crsfSchedule[index++] = BIT(CRSF_FRAME_GPS_INDEX); crsfSchedule[index++] = BIT(CRSF_FRAME_GPS_INDEX);
} }
#endif #endif
#if defined(USE_CRSF_V3)
while (index < (CRSF_CYCLETIME_US / CRSF_TELEMETRY_FRAME_INTERVAL_MAX_US) && index < CRSF_SCHEDULE_COUNT_MAX) {
// schedule heartbeat to ensure that telemetry/heartbeat frames are sent at minimum 50Hz
crsfSchedule[index++] = BIT(CRSF_FRAME_HEARTBEAT_INDEX);
}
#endif
crsfScheduleCount = (uint8_t)index; crsfScheduleCount = (uint8_t)index;
#if defined(USE_CRSF_CMS_TELEMETRY) #if defined(USE_CRSF_CMS_TELEMETRY)