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Plane: make scheduler track whether it has called the delay callback

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This commit is contained in:
Peter Barker 2018-05-08 16:33:39 +10:00 committed by Andrew Tridgell
parent a386c6100c
commit e10c23bd43
2 changed files with 4 additions and 8 deletions
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9
ArduPlane/GCS_Mavlink.cpp
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@ -408,7 +408,8 @@ bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
// if we don't have at least 0.2ms remaining before the main loop // if we don't have at least 0.2ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to // wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications // prioritise the main flight control loop over communications
if (!plane.in_mavlink_delay && plane.scheduler.time_available_usec() < 200) { if (!hal.scheduler->in_delay_callback() &&
plane.scheduler.time_available_usec() < 200) {
gcs().set_out_of_time(true); gcs().set_out_of_time(true);
return false; return false;
} }
@ -688,7 +689,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
if (gcs().out_of_time()) return; if (gcs().out_of_time()) return;
if (plane.in_mavlink_delay) { if (hal.scheduler->in_delay_callback()) {
#if HIL_SUPPORT #if HIL_SUPPORT
if (plane.g.hil_mode == 1) { if (plane.g.hil_mode == 1) {
// in HIL we need to keep sending servo values to ensure // in HIL we need to keep sending servo values to ensure
@ -1737,9 +1738,8 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
void Plane::mavlink_delay_cb() void Plane::mavlink_delay_cb()
{ {
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
if (!gcs().chan(0).initialised || in_mavlink_delay) return; if (!gcs().chan(0).initialised) return;
in_mavlink_delay = true;
DataFlash.EnableWrites(false); DataFlash.EnableWrites(false);
uint32_t tnow = millis(); uint32_t tnow = millis();
@ -1760,7 +1760,6 @@ void Plane::mavlink_delay_cb()
} }
DataFlash.EnableWrites(true); DataFlash.EnableWrites(true);
in_mavlink_delay = false;
} }
/* /*

3
ArduPlane/Plane.h
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@ -750,9 +750,6 @@ private:
static const AP_Scheduler::Task scheduler_tasks[]; static const AP_Scheduler::Task scheduler_tasks[];
static const AP_Param::Info var_info[]; static const AP_Param::Info var_info[];
// use this to prevent recursion during sensor init
bool in_mavlink_delay = false;
// time that rudder arming has been running // time that rudder arming has been running
uint32_t rudder_arm_timer; uint32_t rudder_arm_timer;