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

ArduSub/GCS_Mavlink.cpp

@@ -735,7 +735,7 @@ GCS_MAVLINK_Sub::data_stream_send(void)
         return;
     }
 
-    if (sub.in_mavlink_delay) {
+    if (hal.scheduler->in_delay_callback()) {
         // don't send any other stream types while in the delay callback
         return;
     }
@@ -1522,11 +1522,10 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
 void Sub::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs().chan(0).initialised || in_mavlink_delay) {
+    if (!gcs().chan(0).initialised) {
         return;
     }
 
-    in_mavlink_delay = true;
     DataFlash.EnableWrites(false);
 
     uint32_t tnow = millis();
@@ -1548,7 +1547,6 @@ void Sub::mavlink_delay_cb()
     }
 
     DataFlash.EnableWrites(true);
-    in_mavlink_delay = false;
 }
 
 /*

ArduSub/Sub.cpp

@@ -52,7 +52,6 @@ Sub::Sub(void)
           wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
           loiter_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
           circle_nav(inertial_nav, ahrs_view, pos_control),
-          in_mavlink_delay(false),
           param_loader(var_info),
           last_pilot_yaw_input_ms(0)
 {

ArduSub/Sub.h

@@ -436,9 +436,6 @@ private:
     AP_Terrain terrain{ahrs, mission, rally};
 #endif
 
-    // use this to prevent recursion during sensor init
-    bool in_mavlink_delay;
-
     // Top-level logic
     // setup the var_info table
     AP_Param param_loader;