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Rate limit corrected UART telemetry

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onur
2026-07-23 23:55:33 +03:00
parent 9ff895600b
commit bdce4a3046
7 changed files with 66 additions and 18 deletions
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soc/software/gps_system/gps_system.c
+24 -5
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@@ -18,6 +18,14 @@
#error "GPS_ESKF_ENABLE must be 0 or 1"
#endif
#ifndef IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES
#define IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES 5u
#endif
#if (IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES < 1)
#error "IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES must be at least one"
#endif
#define IMU_SAMPLES_BEFORE_GPS_SERVICE 1u
#define IMU_SAMPLES_AFTER_GPS_SERVICE 3u
@@ -67,10 +75,20 @@ static unsigned int feed_pending_imu_to_eskf(
(system->fused_solution.timestamp_ticks !=
system->last_fused_location_tick))
{
gps_system_uart_publish_fused_location(
&system->fused_solution);
system->last_fused_location_tick =
system->fused_solution.timestamp_ticks;
system->fused_publish_sample_count++;
bool first_location =
(system->last_fused_location_tick == 0u);
bool publish_due =
(system->fused_publish_sample_count >=
IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES);
if(first_location || publish_due)
{
gps_system_uart_publish_fused_location(
&system->fused_solution);
system->last_fused_location_tick =
system->fused_solution.timestamp_ticks;
system->fused_publish_sample_count = 0u;
}
}
processed++;
}
@@ -93,7 +111,8 @@ int main(void)
gps_receiver_start_acquisition();
gps_system_uart_publish_startup(
system.fusion_enabled, system.fusion_initialized,
system.imu_initialized, system.imu_running);
system.imu_initialized, system.imu_running,
IMU_CORRECTED_PUBLISH_EVERY_N_SAMPLES);
bool imu_backlog_may_remain = false;
for(;;)