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MAVLink: Queue transponder reports and send them at full data rate

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This will ensure that no transponder reports are dropped and that all received reports are passed on to the GCS and other devices.
This commit is contained in:
Lorenz Meier
2017-07-20 08:31:08 +02:00
parent 6081435801
commit c1f5feac83
3 changed files with 9 additions and 2 deletions
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2
msg/transponder_report.msg
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@@ -11,3 +11,5 @@ uint8 emitter_type # Type from ADSB_EMITTER_TYPE enum
uint8 tslc # Time since last communication in seconds
uint16 flags # Flags to indicate various statuses including valid data fields
uint16 squawk # Squawk code
uint32 ORB_QUEUE_LENGTH = 3

7
src/modules/mavlink/mavlink_messages.cpp
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@@ -1178,6 +1178,11 @@ public:
return new MavlinkStreamADSBVehicle(mavlink);
}
virtual bool const_rate()
{
return true;
}
unsigned get_size()
{
return (_pos_time > 0) ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
@@ -1201,7 +1206,7 @@ protected:
{
struct transponder_report_s pos;
if (_pos_sub->update(&_pos_time, &pos)) {
while (_pos_sub->update(&_pos_time, &pos)) {
mavlink_adsb_vehicle_t msg = {};
msg.ICAO_address = pos.ICAO_address;

2
src/modules/mavlink/mavlink_receiver.cpp
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@@ -2087,7 +2087,7 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
//warnx("code: %d callsign: %s, vel: %8.4f", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity);
if (_transponder_report_pub == nullptr) {
_transponder_report_pub = orb_advertise(ORB_ID(transponder_report), &t);
_transponder_report_pub = orb_advertise_queue(ORB_ID(transponder_report), &t, transponder_report_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(transponder_report), _transponder_report_pub, &t);