Filled CRTP messages with mavlink packets to save space #9232
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
bkueng
reviewed
Apr 3, 2018
| static bool init = 1; | ||
|
|
||
| if (init) { | ||
| _msg_to_send.header = 0; |
There was a problem hiding this comment.
Please move this block to the constructor (https://github.com/barzanisar/Firmware/blob/60e59ff357c1b111bbe261cb6671c7d8bd8bdd24/src/modules/syslink/syslink_bridge.cpp#L50), then you don't need the init flag here.
| } | ||
|
|
||
| static int msg_rem = CRTP_MAX_DATA_SIZE - | ||
| 1; //30 bytes data, so size of crtp message being sent will be = 30 bytes data + 1 byte header + 1 extra byte not filled |
There was a problem hiding this comment.
+ 1 extra byte not filled
Is this really needed? If so, please explain why.
| if (msg_rem == 0) { | ||
|
|
||
| if (_link->_writebuffer.force(&_msg_to_send, sizeof(crtp_message_t))) { | ||
| printf("write buffer overflow!!! \n"); |
There was a problem hiding this comment.
Can you use: PX4_WARN("write buffer overflow")?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Instead of packing header, payload and checksum of a mavlink message in separate CRTP messages, I packed them into one to save space in buffers and send less bytes/second to the crazyradio. This helps decrease data traffic and hence data loss.