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Copter: get mav heartbeats out when board detection fails

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Peter Barker 2017-01-26 23:07:16 +11:00 committed by Randy Mackay
parent 6726d94537
commit 4aaeb4bfed
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/GCS_Mavlink.cpp
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@ -348,7 +348,11 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
// if we don't have at least 250 micros 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 (copter.scheduler.time_available_usec() < 250 && copter.motors->armed()) {
// the check for nullptr here doesn't just save a nullptr
// dereference; it means that we send messages out even if we're
// failing to detect a PX4 board type (see delay(3000) in px_drivers).
if (copter.motors != nullptr && copter.scheduler.time_available_usec() < 250 && copter.motors->armed()) {
copter.gcs_out_of_time = true;
return false;
}