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GCS_Common: whitelist AUTOPILOT_VERSION for in_delay_callback sending

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GCSs may request this very early on in the boot process, particularly
for SITL.

If we try to send it during a delay callback then we end up dropping it
at the moment - but we'd already sent the ack in response to the
request.
This commit is contained in:
Peter Barker 2020-03-05 10:37:55 +11:00 committed by Peter Barker
parent ca4af94833
commit 5100c9fb8c
1 changed files with 9 additions and 4 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -791,10 +791,6 @@ bool GCS_MAVLINK::should_send_message_in_delay_callback(const ap_message id) con
// No ID we return true for may take more than a few hundred // No ID we return true for may take more than a few hundred
// microseconds to return! // microseconds to return!
if (id == MSG_HEARTBEAT || id == MSG_NEXT_PARAM) {
return true;
}
if (in_hil_mode()) { if (in_hil_mode()) {
// in HIL we need to keep sending servo values to ensure // in HIL we need to keep sending servo values to ensure
// the simulator doesn't pause, otherwise our sensor // the simulator doesn't pause, otherwise our sensor
@ -805,6 +801,15 @@ bool GCS_MAVLINK::should_send_message_in_delay_callback(const ap_message id) con
} }
} }
switch (id) {
case MSG_HEARTBEAT:
case MSG_NEXT_PARAM:
case MSG_AUTOPILOT_VERSION:
return true;
default:
return false;
}
return false; return false;
} }