Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: count parameters in param thread 

This helps avoid counting parameters on the main thread,
avoiding long-loops
This commit is contained in:
Peter Barker 2017-05-10 16:30:20 +10:00 committed by Randy Mackay
parent 201de74fec
commit 6105452ccb
1 changed files with 10 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/GCS_MAVLink/GCS_Param.cpp
View File

@ -233,12 +233,6 @@ void GCS_MAVLINK::handle_param_request_read(mavlink_message_t *msg)
// queue it for processing by io timer
param_requests.push(req);
if (!param_timer_registered) {
param_timer_registered = true;
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::param_io_timer, void));
}
}
void GCS_MAVLINK::handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash)
@ -355,6 +349,11 @@ void GCS_MAVLINK::send_parameter_value_all(const char *param_name, ap_var_type p
*/
void GCS_MAVLINK::send_queued_parameters(void)
{
if (!param_timer_registered) {
param_timer_registered = true;
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::param_io_timer, void));
}
if (_queued_parameter == nullptr &&
param_replies.empty()) {
return;
@ -375,6 +374,10 @@ void GCS_MAVLINK::param_io_timer(void)
{
struct pending_param_request req;
// this is mostly a no-op, but doing this here means we won't
// block the main thread counting parameters (~30ms on PH)
AP_Param::count_parameters();
if (param_replies.space() == 0) {
// no room
return;