Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 09:58:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: fix race condition when recieving last waypoint

Browse Source 
only shows up when the waypoint is about to time out
This commit is contained in:
Michael du Breuil 2016-06-22 02:13:11 -06:00 committed by Andrew Tridgell
parent 689595080a
commit c2da36d505
1 changed files with 5 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1010,17 +1010,15 @@ GCS_MAVLINK::update(run_cli_fn run_cli)
uint32_t tnow = AP_HAL::millis();
uint32_t wp_recv_time = 1000U + (stream_slowdown*20);
if (waypoint_receiving &&
waypoint_request_i <= waypoint_request_last &&
tnow - waypoint_timelast_request > wp_recv_time) {
// stop waypoint receiving if timeout
if (waypoint_receiving && (tnow - waypoint_timelast_receive) > wp_recv_time+waypoint_receive_timeout) {
waypoint_receiving = false;
} else if (waypoint_receiving &&
(tnow - waypoint_timelast_request) > wp_recv_time) {
waypoint_timelast_request = tnow;
send_message(MSG_NEXT_WAYPOINT);
}
// stop waypoint receiving if timeout
if (waypoint_receiving && (tnow - waypoint_timelast_receive) > wp_recv_time+waypoint_receive_timeout) {
waypoint_receiving = false;
}
}