AP_HAL_Linux: set bw_in_bytes_per_second default to 10/100Mbps connec…

…tion
ArduPilot · Oct 31, 2023 · 60a38a0 · 60a38a0
1 parent b3f2945
commit 60a38a0
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diff --git a/libraries/AP_HAL_Linux/UARTDriver.cpp b/libraries/AP_HAL_Linux/UARTDriver.cpp
@@ -443,3 +443,10 @@ uint64_t UARTDriver::receive_time_constraint_us(uint16_t nbytes)
     }
     return last_receive_us;
 }
+
+uint32_t UARTDriver::bw_in_bytes_per_second() const
+{
+    // if connected, assume at least a 10/100Mbps connection
+    const uint32_t bitrate = (_connected && _ip != nullptr) ? 10E6 : _baudrate;
+    return bitrate/10; // convert bits to bytes minus overhead
+};
diff --git a/libraries/AP_HAL_Linux/UARTDriver.h b/libraries/AP_HAL_Linux/UARTDriver.h
@@ -54,6 +54,8 @@ class UARTDriver : public AP_HAL::UARTDriver {
      */
     uint64_t receive_time_constraint_us(uint16_t nbytes) override;
 
+    uint32_t bw_in_bytes_per_second() const override;
+
 private:
     AP_HAL::OwnPtr<SerialDevice> _device;
     bool _console;