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mavlink: reorder streams to optimize latency 

In particular this together with the previous commit reduces timesync
round-trip time spikes by more than 10ms, and makes it generally more
stable.

Other streams are reordered according to onboard priority.
sbg
Beat Küng 5 years ago
parent
fa8def903d
commit
107ab16e96
1 changed files with 32 additions and 23 deletions
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  1. 55
      src/modules/mavlink/mavlink_main.cpp

55
src/modules/mavlink/mavlink_main.cpp
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@ -1606,33 +1606,37 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1606,33 +1606,37 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
break;
case MAVLINK_MODE_ONBOARD:
// Note: streams requiring low latency come first
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
configure_stream_local("HIGHRES_IMU", 50.0f);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("ATTITUDE", 100.0f);
configure_stream_local("ALTITUDE", 10.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("MOUNT_ORIENTATION", 10.0f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("ACTUATOR_CONTROL_TARGET0", 10.0f);
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ALTITUDE", 10.0f);
configure_stream_local("ATTITUDE", 100.0f);
configure_stream_local("ATTITUDE_QUATERNION", 50.0f);
configure_stream_local("ATTITUDE_TARGET", 10.0f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_CAPTURE", 2.0f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("DEBUG", 10.0f);
configure_stream_local("DEBUG_FLOAT_ARRAY", 10.0f);
configure_stream_local("DEBUG_VECT", 10.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
configure_stream_local("GPS2_RAW", unlimited_rate);
configure_stream_local("GPS_RAW_INT", unlimited_rate);
configure_stream_local("HIGHRES_IMU", 50.0f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
configure_stream_local("PING", 1.0f);
@ -1642,7 +1646,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1642,7 +1646,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("SERVO_OUTPUT_RAW_0", 10.0f);
configure_stream_local("SYS_STATUS", 5.0f);
configure_stream_local("SYSTEM_TIME", 1.0f);
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("TRAJECTORY_REPRESENTATION_WAYPOINTS", 5.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
configure_stream_local("VFR_HUD", 10.0f);
@ -1656,29 +1659,33 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1656,29 +1659,33 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
// FALLTHROUGH
case MAVLINK_MODE_EXTVISIONMIN:
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ALTITUDE", 10.0f);
// Note: streams requiring low latency come first
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("ATTITUDE", 20.0f);
configure_stream_local("ALTITUDE", 10.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("MOUNT_ORIENTATION", 10.0f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ATTITUDE_TARGET", 2.0f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("DEBUG", 1.0f);
configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
configure_stream_local("DEBUG_VECT", 1.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
configure_stream_local("GPS2_RAW", 1.0f);
configure_stream_local("GPS_RAW_INT", 1.0f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
configure_stream_local("OBSTACLE_DISTANCE", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
configure_stream_local("PING", 0.1f);
@ -1721,8 +1728,15 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1721,8 +1728,15 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
//stream nothing
break;
case MAVLINK_MODE_CONFIG:
// Enable a number of interesting streams we want via USB
case MAVLINK_MODE_CONFIG: // USB
// Note: streams requiring low latency come first
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("MOUNT_ORIENTATION", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("ACTUATOR_CONTROL_TARGET0", 30.0f);
configure_stream_local("ADSB_VEHICLE", unlimited_rate);
configure_stream_local("ALTITUDE", 10.0f);
@ -1731,12 +1745,10 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1731,12 +1745,10 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("ATTITUDE_TARGET", 8.0f);
configure_stream_local("BATTERY_STATUS", 0.5f);
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("CAMERA_TRIGGER", unlimited_rate);
configure_stream_local("COLLISION", unlimited_rate);
configure_stream_local("DEBUG", 50.0f);
configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
configure_stream_local("DEBUG_VECT", 50.0f);
configure_stream_local("DISTANCE_SENSOR", 10.0f);
configure_stream_local("ESTIMATOR_STATUS", 5.0f);
configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
@ -1744,11 +1756,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1744,11 +1756,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("GPS_RAW_INT", unlimited_rate);
configure_stream_local("HIGHRES_IMU", 50.0f);
configure_stream_local("HOME_POSITION", 0.5f);
configure_stream_local("LOCAL_POSITION_NED", 30.0f);
configure_stream_local("MANUAL_CONTROL", 5.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 50.0f);
configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
configure_stream_local("ODOMETRY", 30.0f);
configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
configure_stream_local("PING", 1.0f);
@ -1761,7 +1771,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream) @@ -1761,7 +1771,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("SERVO_OUTPUT_RAW_1", 20.0f);
configure_stream_local("SYS_STATUS", 1.0f);
configure_stream_local("SYSTEM_TIME", 1.0f);
configure_stream_local("TIMESYNC", 10.0f);
configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);
configure_stream_local("VFR_HUD", 20.0f);
configure_stream_local("VIBRATION", 2.5f);

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