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Code Issues Releases Activity

OP-273 - UAVTalk - prevent object update-bursts caused by involuntary synchronization in case of long delays or time-jumps

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2450 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2011-01-16 15:28:49 +00:00 committed by corvus
parent 115a581d7c
commit 75a6b406cd
2 changed files with 6 additions and 2 deletions
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4
flight/UAVObjects/eventdispatcher.c
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@ -310,6 +310,7 @@ static int32_t processPeriodicUpdates()
PeriodicObjectList* objEntry; PeriodicObjectList* objEntry;
int32_t timeNow; int32_t timeNow;
int32_t timeToNextUpdate; int32_t timeToNextUpdate;
int32_t offset;
// Get lock // Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -327,7 +328,8 @@ static int32_t processPeriodicUpdates()
if (objEntry->timeToNextUpdateMs <= timeNow) if (objEntry->timeToNextUpdateMs <= timeNow)
{ {
// Reset timer // Reset timer
objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs; offset = ( timeNow - objEntry->timeToNextUpdateMs ) % objEntry->updatePeriodMs;
objEntry->timeToNextUpdateMs = timeNow + objEntry->updatePeriodMs - offset;
// Invoke callback, if one // Invoke callback, if one
if ( objEntry->evInfo.cb != 0) if ( objEntry->evInfo.cb != 0)
{ {

4
ground/src/plugins/uavtalk/telemetry.cpp
View File

@ -437,6 +437,7 @@ void Telemetry::processPeriodicUpdates()
ObjectTimeInfo objinfo; ObjectTimeInfo objinfo;
qint32 elapsedMs = 0; qint32 elapsedMs = 0;
QTime time; QTime time;
qint32 offset;
for (int n = 0; n < objList.length(); ++n) for (int n = 0; n < objList.length(); ++n)
{ {
objinfo = objList[n]; objinfo = objList[n];
@ -448,7 +449,8 @@ void Telemetry::processPeriodicUpdates()
if (objinfo.timeToNextUpdateMs <= 0) if (objinfo.timeToNextUpdateMs <= 0)
{ {
// Reset timer // Reset timer
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs; offset = (-objinfo.timeToNextUpdateMs) % objinfo.updatePeriodMs;
objinfo.timeToNextUpdateMs = objinfo.updatePeriodMs - offset;
// Send object // Send object
time.start(); time.start();
processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false); processObjectUpdates(objinfo.obj, EV_UPDATED_MANUAL, true, false);