AP_DroneCAN: DNAServer: optimize allocation strategy #28099
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Number of allocation messages with 3 nodes (6 trials): before: 44, 36, 35, 92, 107, 41 after: 28, 28, 28, 28, 26, 28
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Please see code for details. There are sure to be a lot of variables but this change demonstrably makes the allocation message count (and therefore real allocation time, though I did not measure this precisely) lower and more consistent.
Number of allocation messages with 3x MatekL431-Periph nodes and Cube Orange (6 trials):
before: 44, 36, 35, 92, 107, 41
after: 28, 28, 28, 28, 26, 28