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APM: allow telemetry send during parameter and waypoint fetch 

this slows down telemetry by a factor of 4 during parameter or
waypoint transmit. That ensures that mode changes and gps position are
still updated during a long parameter fetch
This commit is contained in:
Andrew Tridgell 2012-08-16 10:50:12 +10:00
parent ed064b2506
commit d27e51f20a
1 changed files with 9 additions and 9 deletions
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18
ArduPlane/GCS_Mavlink.pde
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@ -807,9 +807,16 @@ GCS_MAVLINK::update(void)
bool GCS_MAVLINK::stream_trigger(enum streams stream_num) bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
{ {
AP_Int16 *stream_rates = &streamRateRawSensors; AP_Int16 *stream_rates = &streamRateRawSensors;
uint8_t rate = (uint8_t)stream_rates[stream_num].get(); float rate = (uint8_t)stream_rates[stream_num].get();
if (rate == 0) { // send at a much lower rate while handling waypoints and
// parameter sends
if (waypoint_receiving || waypoint_sending ||
_queued_parameter != NULL) {
rate *= 0.25;
}
if (rate <= 0) {
return false; return false;
} }
@ -830,11 +837,6 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
void void
GCS_MAVLINK::data_stream_send(void) GCS_MAVLINK::data_stream_send(void)
{ {
if (waypoint_receiving || waypoint_sending) {
// don't interfere with mission transfer
return;
}
if (_queued_parameter != NULL) { if (_queued_parameter != NULL) {
if (streamRateParams.get() <= 0) { if (streamRateParams.get() <= 0) {
streamRateParams.set(50); streamRateParams.set(50);
@ -842,8 +844,6 @@ GCS_MAVLINK::data_stream_send(void)
if (stream_trigger(STREAM_PARAMS)) { if (stream_trigger(STREAM_PARAMS)) {
send_message(MSG_NEXT_PARAM); send_message(MSG_NEXT_PARAM);
} }
// don't send anything else at the same time as parameters
return;
} }
if (in_mavlink_delay) { if (in_mavlink_delay) {