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Rover: shorten time remaining in try_send_message

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The scheduler table entry for retrying defered messages doesn't allow
enough time for try_send_messages to run.

This change makes the time-remaining requirement the same as Plane.
This commit is contained in:
Peter Barker 2018-05-21 15:26:50 +10:00 committed by Randy Mackay
parent 95df35f102
commit 90124c20cb
1 changed files with 2 additions and 2 deletions
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4
APMrover2/GCS_Mavlink.cpp
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@ -258,11 +258,11 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
return false;
}
// if we don't have at least 1ms remaining before the main loop
// if we don't have at least 0.2ms remaining before the main loop
// wants to fire then don't send a mavlink message. We want to
// prioritise the main flight control loop over communications
if (!hal.scheduler->in_delay_callback() &&
rover.scheduler.time_available_usec() < 1200) {
rover.scheduler.time_available_usec() < 200) {
gcs().set_out_of_time(true);
return false;
}