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reactive collision avoidance

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liquidraver
2026-03-11 12:08:48 +01:00
parent 61909c62de
commit d45fbf7027
17 changed files with 439 additions and 68 deletions
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zephcore/src/Dispatcher.cpp
+5 -8
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@@ -256,13 +256,7 @@ void Dispatcher::checkRecv()
logRx(pkt, pkt->getRawLength(), score);
if (pkt->isRouteFlood()) {
n_recv_flood++;
int delay = calcRxDelay(score, air_time);
if (delay < 50) {
processRecvPacket(pkt);
} else {
if (delay > (int)MAX_RX_DELAY_MILLIS) delay = MAX_RX_DELAY_MILLIS;
_mgr->queueInbound(pkt, futureMillis(delay));
}
processRecvPacket(pkt);
} else {
n_recv_direct++;
processRecvPacket(pkt);
@@ -291,7 +285,10 @@ void Dispatcher::checkSend()
{
uint32_t now = (uint32_t)_ms->getMillis();
int count = _mgr->getOutboundCount(now);
if (count == 0) return;
if (count == 0) {
cad_busy_start = 0;
return;
}
if (_radio->isReceiving()) {
/* Channel busy — enforce retry timer so we don't hammer the check */