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Plane: allow GCS MAVLink base class to handle out-of-time for sending messages

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Peter Barker 2019-04-26 17:13:04 +10:00 committed by Andrew Tridgell
parent b0beca7b01
commit 3e4366906b
1 changed files with 0 additions and 10 deletions
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10
ArduPlane/GCS_Mavlink.cpp
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@ -398,16 +398,6 @@ uint32_t GCS_MAVLINK_Plane::telem_delay() const
// try to send a message, return false if it won't fit in the serial tx buffer // try to send a message, return false if it won't fit in the serial tx buffer
bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id) bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
{ {
// if we don't have at least 0.2ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (!hal.scheduler->in_delay_callback() &&
!AP_BoardConfig::in_sensor_config_error() &&
plane.scheduler.time_available_usec() < 200) {
gcs().set_out_of_time(true);
return false;
}
switch (id) { switch (id) {
case MSG_SERVO_OUT: case MSG_SERVO_OUT: