We should only need to do a single PAYLOAD_SIZE check for each mavlink
backend now.
- stop iterating over all channels, only do instantiated mavlink
backends
- if we don't have space for a statustext on a channel, break
immediately and don't do remaining texts
- resposibility is now on the GCS_MAVLINK backend for sending texts
- that's a timing change
- only iterate over entries actually in the queue rather than maximum
queue size
- it's likely to be the full length anyway as we don't expire things
from the queue and most setups will have full channels
// because MISSION_SET_CURRENT is a message not a command,
// there is not ACK associated with us successfully changing
// our waypoint. Some GCSs use the fact we return exactly the
// same mission sequence number in this packet as an ACK - so
// if they send a MISSION_SET_CURRENT with seq number of 4
// then they expect to receive a MISSION_CURRENT message with
// exactly that sequence number in it, even if ArduPilot never
// actually holds that as a sequence number (e.g. packet.seq==0).
In the case you only have a forward-pointing LIDAR we'd send messages
for each of the other orientations from proximty's horizontal-distances
array, chewing up bandwidth and processing time.
Was "UNSUPPORTED", which is supposed to mean, "Command is not supported"
Now is either "DENIED" (Command is invalid (is supported but has invalid
parameters)) or "FAILED" (Command is valid, but execution has failed.)
We should probably returned DENIED if we try to change to a mode which
doesn't exist, but that would require another callback on AP_Vehicle.
It would also lead to questions around what a valid mode is - so
QSTABILIZE if quadplane is disabled in Plane, for example.
The code here was never meant to maintain an "average" streamrate. It
was designed so that we would maintain a consistent clock in the face of
minor scheduling anomalies (like an EKF fusion step).
The way this is written, however, makes us spit out a message for each
of the intervals we missed - clearly not intended behaviour.
This was tested by inserting the following code:
void GCS_MAVLINK::update_send()
{
+ const uint32_t xnow = AP_HAL::millis();
+ if (xnow > 10000 &&
+ xnow < 20000) {
+ return;
+ }
+
