From dee40f3fe57a790f6aaf107c238c4cb34a5c5902 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 8 May 2018 16:17:08 +1000
Subject: [PATCH] Copter: make scheduler track whether it has called the delay
 callback

---
 ArduCopter/Copter.h        | 3 ---
 ArduCopter/GCS_Mavlink.cpp | 6 ++----
 2 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index a2cb195116..022f9156da 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -572,9 +572,6 @@ private:
     AP_Avoidance_Copter avoidance_adsb{ahrs, adsb};
 #endif
 
-    // use this to prevent recursion during sensor init
-    bool in_mavlink_delay;
-
     // last valid RC input time
     uint32_t last_radio_update_ms;
 
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 96e753817f..63c07ece48 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -569,7 +569,7 @@ GCS_MAVLINK_Copter::data_stream_send(void)
 
     if (gcs().out_of_time()) return;
 
-    if (copter.in_mavlink_delay) {
+    if (hal.scheduler->in_delay_callback()) {
         // don't send any other stream types while in the delay callback
         return;
     }
@@ -1713,9 +1713,8 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 void Copter::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs().chan(0).initialised || in_mavlink_delay) return;
+    if (!gcs().chan(0).initialised) return;
 
-    in_mavlink_delay = true;
     DataFlash.EnableWrites(false);
 
     uint32_t tnow = millis();
@@ -1738,7 +1737,6 @@ void Copter::mavlink_delay_cb()
     check_usb_mux();
 
     DataFlash.EnableWrites(true);
-    in_mavlink_delay = false;
 }
 
 /*