fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 08:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

limit vehicle_command subscription updates per cycle

Browse Source 
- this is a precaution to eliminate the possibility of getting stuck in
a loop trying to keep up with a high rate publication that could be
coming from a higher priority task
This commit is contained in:
Daniel Agar
2022-10-17 16:10:51 -04:00
parent 677f3e9294
commit 0d6766d14d
4 changed files with 18 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+5 -2
View File
@@ -2313,9 +2313,12 @@ Mavlink::task_main(int argc, char *argv[])
}
// vehicle_command
// MAVLINK_MODE_IRIDIUM: handle VEHICLE_CMD_CONTROL_HIGH_LATENCY
if (_mode == MAVLINK_MODE_IRIDIUM) {
while (_vehicle_command_sub.updated()) {
int vehicle_command_updates = 0;
while (_vehicle_command_sub.updated() && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) {
vehicle_command_updates++;
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s vehicle_cmd;
src/modules/mavlink/streams/COMMAND_LONG.hpp
+5 -1
View File
@@ -62,8 +62,12 @@ private:
bool sent = false;
static constexpr size_t COMMAND_LONG_SIZE = MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
int vehicle_command_updates = 0;
while ((_mavlink->get_free_tx_buf() >= COMMAND_LONG_SIZE) && _vehicle_command_sub.updated()) {
while ((_mavlink->get_free_tx_buf() >= COMMAND_LONG_SIZE)
&& _vehicle_command_sub.updated() && (vehicle_command_updates < vehicle_command_s::ORB_QUEUE_LENGTH)) {
vehicle_command_updates++;
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s cmd;