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GCS_MAVLink: ensure payload space for ACK before sending 

Attempting to fix instance of the ACK not arriving on SITL reboot.  We already have a lot of code around trying to get this out, but there's been at least once instance it hasn't.
This commit is contained in:
Peter Barker 2022-07-22 15:10:13 +10:00 committed by Peter Barker
parent 8daacb6d26
commit cf915a0f35
1 changed files with 13 additions and 0 deletions
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13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2974,6 +2974,19 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
{ // autotest relies in receiving the ACK for the reboot. Ensure
// there is space for it:
const uint32_t tstart_ms = AP_HAL::millis();
while (AP_HAL::millis() - tstart_ms < 1000) {
if (HAVE_PAYLOAD_SPACE(chan, COMMAND_ACK)) {
break;
}
hal.scheduler->delay(10);
}
}
#endif
// send ack before we reboot // send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED, mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED,
0, 0, 0, 0); 0, 0, 0, 0);