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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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Forward vision message may flood telemetry link #17922

Closed chobitsfan closed 3 years ago

chobitsfan commented 3 years ago

Bug report

Issue details In such setup, companion computer send vision_position_estimate or att_pos_mocap to FC for non-gps flight. A 915 telemetry is connected to another serial port of FC broadcast_issue Because there is no target_system in these messages, they are considered broadcast messages. FC forward them to other link. Vision messages are usually sent in rather high frequency (~30hz). It may flood some low throughput link (915 telemetry) and make the link nearly unusable.

A quick fix is to do something like https://github.com/ArduPilot/ardupilot/blob/c2c013964d419a8965981173042c0f3de37b604d/libraries/GCS_MAVLink/MAVLink_routing.cpp#L108-L112 But it may be useful for GCS to receive forwarded vision messages in lower rate

Version Master

Platform [X] Copter

rmackay9 commented 3 years ago

@chobitsfan, we've added a SERIALx_OPTION to allow not forwarding on messages received to other serial links. We should probably add this to the wiki if it's not on there already.

chobitsfan commented 3 years ago

@rmackay9 Thank you very much :)

It would be better if we could find a way to constraint forward rate. But I can not find a easy way to do this