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rx. mavlink, rename bytes_serial_in to bytes_link_out, as this is wha…
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…t it is, nfc
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@olliw42
olliw42 committed Dec 3, 2023
1 parent efe1200 commit 48b8b6d
Showing 1 changed file with 23 additions and 23 deletions.
46 changes: 23 additions & 23 deletions mLRS/CommonRx/mavlink_interface_rx.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,11 @@ class MavlinkBase

// to inject RADIO_STATUS or RADIO_LINK_FLOW_CONTROL
uint32_t radio_status_tlast_ms;
uint32_t bytes_serial_in;
uint32_t bytes_link_out; // bytes grabbed by link out
uint8_t radio_status_txbuf;

uint32_t bytes_serial_in_cnt; // for rate filter
LPFilterRate bytes_serial_in_rate_filt;
uint32_t bytes_link_out_cnt; // for rate filter
LPFilterRate bytes_link_out_rate_filt;

typedef enum {
TXBUF_STATE_NORMAL = 0,
Expand Down Expand Up @@ -134,9 +134,9 @@ void MavlinkBase::Init(void)
radio_status_txbuf = 0;
txbuf_state = TXBUF_STATE_NORMAL;

bytes_serial_in = 0;
bytes_serial_in_cnt = 0;
bytes_serial_in_rate_filt.Reset();
bytes_link_out = 0;
bytes_link_out_cnt = 0;
bytes_link_out_rate_filt.Reset();

inject_rc_channels = false;
for (uint8_t i = 0; i < 16; i++) { rc_chan[i] = 0; rc_chan_13b[i] = 0; }
Expand Down Expand Up @@ -247,10 +247,10 @@ void MavlinkBase::Do(void)
inject_radio_status = true;
radio_status_txbuf = 50; // ArduPilot: 50-90, PX4: 35-50 -> no change
}
bytes_serial_in_rate_filt.Reset();
bytes_link_out_rate_filt.Reset();
} else {
radio_status_tlast_ms = tnow_ms;
bytes_serial_in_rate_filt.Reset();
bytes_link_out_rate_filt.Reset();
}

// TODO: either the buffer must be guaranteed to be large, or we need to check filling
Expand Down Expand Up @@ -384,8 +384,8 @@ bool MavlinkBase::available(void)

uint8_t MavlinkBase::getc(void)
{
bytes_serial_in++;
bytes_serial_in_cnt++;
bytes_link_out++;
bytes_link_out_cnt++;

#ifdef USE_FEATURE_MAVLINKX
return fifo_link_out.Get();
Expand Down Expand Up @@ -478,7 +478,7 @@ bool MavlinkBase::handle_txbuf_ardupilot(uint32_t tnow_ms)
// method C, with improvements
// assumes 1 sec delta time
uint32_t rate_max = ((uint32_t)1000 * FRAME_RX_PAYLOAD_LEN) / Config.frame_rate_ms; // theoretical rate, bytes per sec
uint32_t rate_percentage = (bytes_serial_in * 100) / rate_max;
uint32_t rate_percentage = (bytes_link_out * 100) / rate_max;

// https://github.com/ArduPilot/ardupilot/blob/fa6441544639bd5dc84c3e6e3d2f7bfd2aecf96d/libraries/GCS_MAVLink/GCS_Common.cpp#L782-L801
// aim at 75%..85% rate usage in steady state
Expand Down Expand Up @@ -506,15 +506,15 @@ bool MavlinkBase::handle_txbuf_ardupilot(uint32_t tnow_ms)
txbuf_state_last = txbuf_state;

// only for "educational" purposes currently
bytes_serial_in_rate_filt.Update(tnow_ms, bytes_serial_in_cnt, 1000);
/*
bytes_link_out_rate_filt.Update(tnow_ms, bytes_link_out_cnt, 1000);
#if 0 // Debug
static uint32_t t_last = 0;
uint32_t t = millis32(), dt = t - t_last; t_last = t;
dbg.puts("\nMa: ");
dbg.puts(u16toBCD_s(t));dbg.puts(" (");dbg.puts(u16toBCD_s(dt));dbg.puts("), ");
//dbg.puts(u16toBCD_s(stats.GetTransmitBandwidthUsage()*41));dbg.puts(", ");
dbg.puts(u16toBCD_s(bytes_serial_in));dbg.puts(" (");
dbg.puts(u16toBCD_s(bytes_serial_in_rate_filt.Get()));dbg.puts("), ");
dbg.puts(u16toBCD_s(bytes_link_out));dbg.puts(" (");
dbg.puts(u16toBCD_s(bytes_link_out_rate_filt.Get()));dbg.puts("), ");
dbg.puts(u16toBCD_s(serial_in_available()));dbg.puts(", ");
dbg.puts(u8toBCD_s((rate_percentage<256)?rate_percentage:255));dbg.puts(", ");
if(txbuf_state==2) dbg.puts("high, "); else
Expand All @@ -524,12 +524,12 @@ if(txbuf<20) dbg.puts("+60 "); else
if(txbuf<50) dbg.puts("+20 "); else
if(txbuf>95) dbg.puts("-40 "); else
if(txbuf>90) dbg.puts("-20 "); else dbg.puts("0 ");
*/
#endif
if ((txbuf_state == TXBUF_STATE_NORMAL) && (txbuf == 100)) {
radio_status_tlast_ms -= 666; // do again in 1/3 sec
bytes_serial_in = (bytes_serial_in * 2)/3; // approximate by 2/3 of what was received in the last 1 sec
bytes_link_out = (bytes_link_out * 2)/3; // approximate by 2/3 of what was received in the last 1 sec
} else {
bytes_serial_in = 0; // reset, to restart rate measurement
bytes_link_out = 0; // reset, to restart rate measurement
}

radio_status_txbuf = txbuf;
Expand Down Expand Up @@ -589,7 +589,7 @@ bool MavlinkBase::handle_txbuf_method_b(uint32_t tnow_ms)
// method C, with improvements
// assumes 1 sec delta time
uint32_t rate_max = ((uint32_t)1000 * FRAME_RX_PAYLOAD_LEN) / Config.frame_rate_ms; // theoretical rate, bytes per sec
uint32_t rate_percentage = (bytes_serial_in * 100) / rate_max;
uint32_t rate_percentage = (bytes_link_out * 100) / rate_max;

// https://github.com/ArduPilot/ardupilot/blob/fa6441544639bd5dc84c3e6e3d2f7bfd2aecf96d/libraries/GCS_MAVLink/GCS_Common.cpp#L782-L801
// https://github.com/PX4/PX4-Autopilot/blob/fe80e7aa468a50bec6b035d0e8e4e37e516c84ff/src/modules/mavlink/mavlink_main.cpp#L1436-L1463
Expand Down Expand Up @@ -624,14 +624,14 @@ bool MavlinkBase::handle_txbuf_method_b(uint32_t tnow_ms)
}

// only for "educational" purposes currently
bytes_serial_in_rate_filt.Update(tnow_ms, bytes_serial_in_cnt, 1000);
bytes_link_out_rate_filt.Update(tnow_ms, bytes_link_out_cnt, 1000);
#if 0 // Debug
static uint32_t t_last = 0;
uint32_t t = millis32(), dt = t - t_last; t_last = t;
dbg.puts("\nMp: ");
dbg.puts(u16toBCD_s(t));dbg.puts(" (");dbg.puts(u16toBCD_s(dt));dbg.puts("), ");
//dbg.puts(u16toBCD_s(stats.GetTransmitBandwidthUsage()*41));dbg.puts(", ");
dbg.puts(u16toBCD_s(bytes_serial_in));dbg.puts(", ");
dbg.puts(u16toBCD_s(bytes_link_out));dbg.puts(", ");
dbg.puts(u16toBCD_s(serial_in_available()));dbg.puts(", ");
dbg.puts(u8toBCD_s((rate_percentage<256)?rate_percentage:255));dbg.puts(", ");
if(txbuf_state==1) dbg.puts("brst, "); else
Expand All @@ -645,9 +645,9 @@ if(txbuf>50) dbg.puts("*1.025 "); else dbg.puts("*1 ");
// increase rate faster after transient traffic since PX4 currently has no fast recovery. Could also try 100ms
if ((txbuf_state == TXBUF_STATE_NORMAL) && (txbuf == 100)) {
radio_status_tlast_ms -= 800; // do again in 200ms
bytes_serial_in = (bytes_serial_in * 4)/5; // rolling average
bytes_link_out = (bytes_link_out * 4)/5; // rolling average
} else {
bytes_serial_in = 0; // reset, to restart rate measurement
bytes_link_out = 0; // reset, to restart rate measurement
}

radio_status_txbuf = txbuf;
Expand Down

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