From e79023ceeeb68ae84be758599d128c0565f34b98 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 14 Jul 2013 17:28:34 +1000
Subject: [PATCH] Plane: fixed problem with slow ground station connects

don't trigger the "scheduler out of time" code when in the delay
callback

Thanks to Marijm Slootweg for noticing this!
---
 ArduPlane/GCS_Mavlink.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index f7f87516c6..02d25683ae 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -546,7 +546,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, 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 (scheduler.time_available_usec() < 1200) {
+    if (!in_mavlink_delay && scheduler.time_available_usec() < 1200) {
         gcs_out_of_time = true;
         return false;
     }