mirror of https://github.com/ArduPilot/ardupilot
Rover: allow GCS MAVLink base class to handle out-of-time for sending messages
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@ -315,16 +315,6 @@ bool GCS_Rover::vehicle_initialised() const
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// try to send a message, return false if it won't fit in the serial tx buffer
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// try to send a message, return false if it won't fit in the serial tx buffer
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bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
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bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
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{
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{
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// if we don't have at least 0.2ms remaining before the main loop
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// wants to fire then don't send a mavlink message. We want to
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// prioritise the main flight control loop over communications
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if (!hal.scheduler->in_delay_callback() &&
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!AP_BoardConfig::in_sensor_config_error() &&
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rover.scheduler.time_available_usec() < 200) {
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gcs().set_out_of_time(true);
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return false;
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}
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switch (id) {
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switch (id) {
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case MSG_SERVO_OUT:
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case MSG_SERVO_OUT:
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