AP_RCTelemetry: apply a 5s hysteresis to RF mode changes and rate reporting

libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp

@@ -148,10 +148,10 @@ void AP_CRSF_Telem::process_rf_mode_changes()
 {
     const AP_RCProtocol_CRSF::RFMode current_rf_mode = get_rf_mode();
     uint32_t now = AP_HAL::millis();
-    if ( _telem_rf_mode != current_rf_mode
-        // report a change of more than 10Hz if we haven't done so in the last 5s
-        || (now - _telem_last_report_ms > 5000 && abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 10)) {
-        gcs().send_text(MAV_SEVERITY_INFO, "CRSF: rf mode change %d->%d, rate is %dHz", (uint8_t)_telem_rf_mode, (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
+    // report a change in RF mode or a chnage of more than 10Hz if we haven't done so in the last 5s
+    if ((now - _telem_last_report_ms > 5000) &&
+        (_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) {
+        gcs().send_text(MAV_SEVERITY_INFO, "CRSF: RF mode %d, rate is %dHz", (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
         update_custom_telemetry_rates(current_rf_mode);
         _telem_rf_mode = current_rf_mode;
         _telem_last_avg_rate = _scheduler.avg_packet_rate;