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mavlink ulog streaming: add rate limiting

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This limits the maximum bandwidth of ulog streaming to 70% of the specified
mavlink datarate. If less is used, the leftover is assigned to the mavlink
streams, if more is used, it starts to drop.

mavlink status outputs the currently used rate, to check if a link is
saturated.
This commit is contained in:
Beat Küng
2016-10-17 11:36:47 +02:00
committed by Lorenz Meier
parent 8f5656f033
commit 318c970477
4 changed files with 54 additions and 9 deletions
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11
src/modules/mavlink/mavlink_main.cpp
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@@ -1601,8 +1601,13 @@ Mavlink::update_rate_mult()
}
}
float mavlink_ulog_streaming_rate_inv = 1.0f;
if (_mavlink_ulog) {
mavlink_ulog_streaming_rate_inv = 1.f - _mavlink_ulog->current_data_rate();
}
/* scale up and down as the link permits */
float bandwidth_mult = (float)(_datarate - const_rate) / rate;
float bandwidth_mult = (float)(_datarate * mavlink_ulog_streaming_rate_inv - const_rate) / rate;
/* if we do not have flow control, limit to the set data rate */
if (!get_flow_control_enabled()) {
@@ -2480,6 +2485,10 @@ Mavlink::display_status()
printf("\ttxerr: %.3f kB/s\n", (double)_rate_txerr);
printf("\trx: %.3f kB/s\n", (double)_rate_rx);
printf("\trate mult: %.3f\n", (double)_rate_mult);
if (_mavlink_ulog) {
printf("\tULog rate: %.1f%% of max %.1f%%\n", (double)_mavlink_ulog->current_data_rate()*100.,
(double)_mavlink_ulog->maximum_data_rate()*100.);
}
printf("\taccepting commands: %s\n", (accepting_commands()) ? "YES" : "NO");
printf("\tMAVLink version: %i\n", _protocol_version);