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Code Issues Wiki Activity

Improve MAVLink behavior with half-duplex links, update default SRs

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MUSTARDTIGERFPV 2024-07-11 20:19:47 +00:00
parent ff94b7702e
commit 92d6315e59
3 changed files with 16 additions and 11 deletions
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4
docs/Settings.md
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@ -2518,7 +2518,7 @@ Rate of the extra1 message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
| 10 | 0 | 255 |
| 2 | 0 | 255 |
---
@ -2558,7 +2558,7 @@ Rate of the RC channels message for MAVLink telemetry
| Default | Min | Max |
| --- | --- | --- |
| 5 | 0 | 255 |
| 1 | 0 | 255 |
---

4
src/main/fc/settings.yaml
View file

@ -3155,7 +3155,7 @@ groups:
type: uint8_t
min: 0
max: 255
default_value: 5
default_value: 1
- name: mavlink_pos_rate
description: "Rate of the position message for MAVLink telemetry"
field: mavlink.position_rate
@ -3169,7 +3169,7 @@ groups:
type: uint8_t
min: 0
max: 255
default_value: 10
default_value: 2
- name: mavlink_extra2_rate
description: "Rate of the extra2 message for MAVLink telemetry"
field: mavlink.extra2_rate

19
src/main/telemetry/mavlink.c
View file

@ -1222,6 +1222,11 @@ static bool processMAVLinkIncomingTelemetry(void)
return false;
}
static bool isMAVLinkTelemetryHalfDuplex(void) {
return telemetryConfig()->halfDuplex ||
(rxConfig()->receiverType == RX_TYPE_SERIAL && rxConfig()->serialrx_provider == SERIALRX_MAVLINK && tristateWithDefaultOffIsActive(rxConfig()->halfDuplex));
}
void handleMAVLinkTelemetry(timeUs_t currentTimeUs)
{
if (!mavlinkTelemetryEnabled) {
@ -1232,18 +1237,18 @@ void handleMAVLinkTelemetry(timeUs_t currentTimeUs)
return;
}
// Process incoming MAVLink - ignore the return indicating whether or not a message was processed
// Very few telemetry links are dynamic uplink/downlink split so uplink telemetry shouldn't reduce downlink bandwidth availability
processMAVLinkIncomingTelemetry();
// Determine whether to send telemetry back
// Process incoming MAVLink
bool receivedMessage = processMAVLinkIncomingTelemetry();
bool shouldSendTelemetry = false;
// Determine whether to send telemetry back based on flow control / pacing
if (txbuff_valid) {
// Use flow control if available
shouldSendTelemetry = txbuff_free >= 33;
} else {
// If not, use blind frame pacing
shouldSendTelemetry = (currentTimeUs - lastMavlinkMessage) >= TELEMETRY_MAVLINK_DELAY;
// If not, use blind frame pacing - and back off for collision avoidance if half-duplex
bool halfDuplexBackoff = (isMAVLinkTelemetryHalfDuplex() && receivedMessage);
shouldSendTelemetry = ((currentTimeUs - lastMavlinkMessage) >= TELEMETRY_MAVLINK_DELAY) && !halfDuplexBackoff;
}
if (shouldSendTelemetry) {