mwp startup test

mwp 24.11.11 / INAV8 (535dbc55)

Some instrumentation of mwp startup for safehomes and geozones.

• Safehomes is kicked off by the COMMON_SETTING
• Geozones is kicked off by SAFEHOMES completing
• Geozones completion will either start an auto mission download or MSP2_INAV_STATUS to start the poller. The commencement of either of these shows the end of Geozones processing.
• SITL is throttled to ensure some semblance of normality.

Note: Auto-loading of safehome, geozones, mission at startup is defined by the following boolean settings (which all default to false (off):

• autoload-safehomes
• autoload-geozones
• auto-restore-mission

SITL

14:45:10.845060 Received nav_fw_loiter_radius: 75m
14:45:10.845070 Load FC safehomes
14:45:10.950339 Load FC Geozones
14:45:10.998311 Auto-download FC mission

(0.153s)

VCP / USB

13:58:05.293817 Received nav_fw_loiter_radius: 75m
13:58:05.293843 Load FC safehomes
13:58:05.757827 Load FC Geozones
13:58:07.117771 Arming flags: Navigation unsafe, • Fix quality, • 0 satellites,RC Link (40800), load 9% MSP_CMDS_INAV_STATUS

(1.824s)

BT HC06 (BT Legacy)

14:25:21.845020 Received nav_fw_loiter_radius: 75m
14:25:21.845049 Load FC safehomes
14:25:22.793012 Load FC Geozones
14:25:26.046080 Arming flags: Navigation unsafe, • Fix quality, • 0 satellites,RC Link (40800), load 9% MSP_CMDS_INAV_STATUS

(4.20s)

SB BT Nano 3 (BLE)

13:55:50.068003 Received nav_fw_loiter_radius: 75m
13:55:50.068045 Load FC safehomes
13:55:51.508222 Load FC Geozones
13:56:00.598001 Arming flags: Navigation unsafe, • Fix quality, • 0 satellites,RC Link (40800), load 9% MSP_CMDS_INAV_STATUS

(10.53s)

SiK (3DR)

15:10:16.274821 Received nav_fw_loiter_radius: 75m
15:10:16.274885 Load FC safehomes
15:10:18.451195 Load FC Geozones
15:10:29.224869 Arming flags: Navigation unsafe, • Fix quality, • 0 satellites,RC Link (40800), load 12% MSP_CMDS_INAV_STATUS

(12.95s)

With:

S1:SERIAL_SPEED=115
S2:AIR_SPEED=64

BT CC2451 (BLE)

14:39:18.487984 Received nav_fw_loiter_radius: 75m
14:39:18.488013 Load FC safehomes
14:39:29.213071 Load FC Geozones
14:40:20.497976 Arming flags: Navigation unsafe, • Fix quality, • 0 satellites,RC Link (40800), load 8% MSP_CMDS_INAV_STATUS

(62.01s) worst BT device ever (23 byte buffer ...)

Summary

Device	Startup time (s)
SITL	0.192
VCP	2.960
BT Legacy )HC06)	5.965
SiK (3DR)	16.234
BLE (SB3)	18.171
BLE CC2451	77.412

Requesting 63 geozones when we want far fewer (maybe zero) is expensive on low bandwidth links.

Note also that there is a FC limit of how many messages / sec that can be processed. On F4 this appears to be around 60 messages / sec for VCP and 100 messages / sec for UART (same as F1).

The scenario used for the above tests (4 zones, 17 vertices).