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GCS_MAVLink: correct slowing down of waypoint re-requests 

These re-requests shouldn't be slowed down by a factor of 20.

This was a left-over from when we did these in terms of 20ms intervals
(50Hz loop rate)
This commit is contained in:
Peter Barker 2020-03-24 12:39:35 +11:00 committed by Andrew Tridgell
parent ca7fcc093c
commit 55d37e5d0e
1 changed files with 1 additions and 1 deletions
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2
libraries/GCS_MAVLink/MissionItemProtocol.cpp
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@ -349,7 +349,7 @@ void MissionItemProtocol::update()
return; return;
} }
// resend request if we haven't gotten one: // resend request if we haven't gotten one:
const uint32_t wp_recv_timeout_ms = 1000U + (link->get_stream_slowdown_ms()*20); const uint32_t wp_recv_timeout_ms = 1000U + link->get_stream_slowdown_ms();
if (tnow - timelast_request_ms > wp_recv_timeout_ms) { if (tnow - timelast_request_ms > wp_recv_timeout_ms) {
timelast_request_ms = tnow; timelast_request_ms = tnow;
link->send_message(next_item_ap_message_id()); link->send_message(next_item_ap_message_id());