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AP_Logging: update EKF while waiting for log open

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this prevents the EKF getting unhappy when we arm
This commit is contained in:
Andrew Tridgell 2021-06-15 14:25:45 +10:00 committed by Peter Barker
parent c2c013964d
commit ece3cf5241
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Logger/AP_Logger_File.cpp
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@ -719,18 +719,22 @@ void AP_Logger_File::PrepForArming_start_logging()
}
uint32_t start_ms = AP_HAL::millis();
const uint32_t open_limit_ms = 250;
const uint32_t open_limit_ms = 1000;
/*
log open happens in the io_timer thread. We allow for a maximum
of 250ms to complete the open
of 1s to complete the open
*/
start_new_log_pending = true;
EXPECT_DELAY_MS(250);
EXPECT_DELAY_MS(1000);
while (AP_HAL::millis() - start_ms < open_limit_ms) {
if (logging_started()) {
break;
}
#if !APM_BUILD_TYPE(APM_BUILD_Replay) && !defined(HAL_BUILD_AP_PERIPH)
// keep the EKF ticking over
AP::ahrs().update();
#endif
hal.scheduler->delay(1);
}
}