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mavlink: don't execute action commands in mavlink_delay()

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3156 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com 2011-08-23 06:16:37 +00:00
parent a545c94b2c
commit 3206ea2312
1 changed files with 16 additions and 5 deletions
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21
ArduCopterMega/GCS_Mavlink.pde
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@ -4,9 +4,13 @@
#include "Mavlink_Common.h"
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
GCS_MAVLINK::GCS_MAVLINK(AP_Var::Key key) :
packet_drops(0),
// parameters
// note, all values not explicitly initialised here are zeroed
waypoint_send_timeout(1000), // 1 second
@ -252,6 +256,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
mavlink_action_t packet;
mavlink_msg_action_decode(msg, &packet);
if (mavlink_check_target(packet.target,packet.target_component)) break;
if (in_mavlink_delay) {
// don't execute action commands while in sensor
// initialisation
break;
}
uint8_t result = 0;
@ -1148,14 +1158,15 @@ static void mavlink_delay(unsigned long t)
{
unsigned long tstart;
static unsigned long last_1hz, last_3hz, last_10hz, last_50hz;
static bool recursing;
if (recursing) {
if (in_mavlink_delay) {
// this should never happen, but let's not tempt fate by
// letting the stack grow too much
delay(t);
return;
}
recursing = true;
in_mavlink_delay = true;
tstart = millis();
do {
@ -1187,5 +1198,5 @@ static void mavlink_delay(unsigned long t)
delay(1);
} while (millis() - tstart < t);
recursing = false;
}
in_mavlink_delay = false;
}