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Plane: much faster mission upload

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send next WP request immediately if possible. This speeds up mission
upload on USB by about 10x
This commit is contained in:
Andrew Tridgell 2014-03-19 06:44:37 +11:00 committed by Randy Mackay
parent 0b811ba6a9
commit 537e78f9fa
1 changed files with 9 additions and 2 deletions
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11
ArduPlane/GCS_Mavlink.pde
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@ -993,7 +993,7 @@ GCS_MAVLINK::update(void)
if (waypoint_receiving &&
waypoint_request_i <= waypoint_request_last &&
tnow > waypoint_timelast_request + 500 + (stream_slowdown*20)) {
tnow - waypoint_timelast_request > 2000 + (stream_slowdown*20)) {
waypoint_timelast_request = tnow;
send_message(MSG_NEXT_WAYPOINT);
}
@ -1624,7 +1624,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// update waypoint receiving state machine
waypoint_timelast_receive = millis();
waypoint_timelast_request = 0;
waypoint_request_i++;
if (waypoint_request_i >= waypoint_request_last) {
@ -1638,6 +1637,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
waypoint_receiving = false;
// XXX ignores waypoint radius for individual waypoints, can
// only set WP_RADIUS parameter
} else {
waypoint_timelast_request = hal.scheduler->millis();
// if we have enough space, then send the next WP immediately
if (comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_MISSION_ITEM_LEN) {
queued_waypoint_send();
} else {
send_message(MSG_NEXT_WAYPOINT);
}
}
}
break;