GCS_MAVLink: move adjust_rate_for_stream up

libraries/GCS_MAVLink/GCS.h

@@ -254,7 +254,8 @@ protected:
     void handle_setup_signing(const mavlink_message_t *msg);
 
 private:
-    virtual float       adjust_rate_for_stream_trigger(enum streams stream_num) = 0;
+    // Tracker is the only vehicle to override this, and it probably shouldn't
+    virtual float       adjust_rate_for_stream_trigger(enum streams stream_num);
 
     virtual void        handleMessage(mavlink_message_t * msg) = 0;
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1616,3 +1616,15 @@ void GCS_MAVLINK::send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custo
         custom_mode,
         system_status);
 }
+
+float GCS_MAVLINK::adjust_rate_for_stream_trigger(enum streams stream_num)
+{
+    // send at a much lower rate while handling waypoints and
+    // parameter sends
+    if ((stream_num != STREAM_PARAMS) && 
+        (waypoint_receiving || _queued_parameter != NULL)) {
+        return 0.25f;
+    }
+
+    return 1.0f;
+}

libraries/GCS_MAVLink/examples/routing/routing.cpp

@@ -21,7 +21,6 @@ protected:
 
 private:
 
-    float adjust_rate_for_stream_trigger(enum streams stream_num) override { return 0.0f; }
     void handleMessage(mavlink_message_t * msg) { }
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return false ; }
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override { }