AP_RCTelemetry: throttle CRSF request RX device info messages

ArduPilot · Nov 13, 2023 · 61aec54 · 61aec54
1 parent c4e2c4f
commit 61aec54
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@@ -468,7 +468,11 @@ void AP_CRSF_Telem::process_packet(uint8_t idx)
                 GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"%s: RX device ping failed", get_protocol_string());
             } else {
                 calc_device_ping(AP_RCProtocol_CRSF::CRSF_ADDRESS_CRSF_RECEIVER);
-                GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"%s: requesting RX device info", get_protocol_string());
+                uint32_t tnow_ms = AP_HAL::millis();
+                if ((tnow_ms - _crsf_version.last_request_info_ms) > 5000) {
+                    _crsf_version.last_request_info_ms = tnow_ms;
+                    GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"%s: requesting RX device info", get_protocol_string());
+                }
             }
             break;
         case DEVICE_PING:

diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.h b/libraries/AP_RCTelemetry/AP_CRSF_Telem.h
@@ -335,6 +335,7 @@ class AP_CRSF_Telem : public AP_RCTelemetry {
         bool use_rf_mode;
         AP_RCProtocol_CRSF::ProtocolType protocol;
         bool pending = true;
+        uint32_t last_request_info_ms;
     } _crsf_version;
 
     struct {