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

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This commit is contained in:
Peter Barker 2018-05-08 15:57:58 +10:00 committed by Andrew Tridgell
parent 864f41406d
commit a78fe0896f
2 changed files with 4 additions and 8 deletions
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9
APMrover2/GCS_Mavlink.cpp
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@ -293,7 +293,8 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
// if we don't have at least 1ms 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 (!rover.in_mavlink_delay && rover.scheduler.time_available_usec() < 1200) {
if (!hal.scheduler->in_delay_callback() &&
rover.scheduler.time_available_usec() < 1200) {
gcs().set_out_of_time(true);
return false;
}
@ -512,7 +513,7 @@ GCS_MAVLINK_Rover::data_stream_send(void)
return;
}
if (rover.in_mavlink_delay) {
if (hal.scheduler->in_delay_callback()) {
#if HIL_MODE != HIL_MODE_DISABLED
// in HIL we need to keep sending servo values to ensure
// the simulator doesn't pause, otherwise our sensor
@ -1328,11 +1329,10 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
void Rover::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;
// don't allow potentially expensive logging calls:
DataFlash.EnableWrites(false);
@ -1355,7 +1355,6 @@ void Rover::mavlink_delay_cb()
check_usb_mux();
DataFlash.EnableWrites(true);
in_mavlink_delay = false;
}
/*

3
APMrover2/Rover.h
View File

@ -335,9 +335,6 @@ private:
static const AP_Scheduler::Task scheduler_tasks[];
// use this to prevent recursion during sensor init
bool in_mavlink_delay;
static const AP_Param::Info var_info[];
static const LogStructure log_structure[];