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GCS_MAVLink: correct decimation of SENSOR_STATUS message

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static infers shared between all backends
This commit is contained in:
Peter Barker 2021-06-07 11:27:02 +10:00 committed by Andrew Tridgell
parent 02e03f4b2e
commit 3101b08489
2 changed files with 8 additions and 3 deletions
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6
libraries/GCS_MAVLink/GCS.h
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@ -850,6 +850,12 @@ private:
uint8_t last_battery_status_idx;
// send_sensor_offsets decimates its send rate using this counter:
// FIXME: decimate this instead when initialising the message
// intervals from the stream rates. Consider the implications of
// doing so vis-a-vis the fact it will consume a bucket.
uint8_t send_sensor_offsets_counter;
// if we've ever sent a DISTANCE_SENSOR message out of an
// orientation we continue to send it out, even if it is not
// longer valid.

5
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1836,11 +1836,10 @@ void GCS_MAVLINK::send_sensor_offsets()
// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
static uint8_t counter;
if (counter++ < 10) {
if (send_sensor_offsets_counter++ < 10) {
return;
}
counter = 0;
send_sensor_offsets_counter = 0;
const Vector3f &mag_offsets = compass.get_offsets(0);
const Vector3f &accel_offsets = ins.get_accel_offsets(0);