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mavlink: STATUSTEXT increase stale message timeout

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This commit is contained in:
Daniel Agar
2022-02-18 10:16:20 -05:00
parent d5d50d5855
commit 1addbe469e
3 changed files with 4 additions and 4 deletions
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src/modules/mavlink/mavlink_main.cpp
+1 -1
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@@ -776,7 +776,7 @@ void Mavlink::send_finish()
# endif // CONFIG_NET # endif // CONFIG_NET
if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() && if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() &&
(!get_client_source_initialized() || !is_connected())) { (!get_client_source_initialized() || !is_gcs_connected())) {
if (!_broadcast_address_found) { if (!_broadcast_address_found) {
find_broadcast_address(); find_broadcast_address();
src/modules/mavlink/mavlink_main.h
+1 -1
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@@ -281,7 +281,7 @@ public:
bool get_forwarding_on() { return _forwarding_on; } bool get_forwarding_on() { return _forwarding_on; }
bool is_connected() { return _tstatus.heartbeat_type_gcs; } bool is_gcs_connected() { return _tstatus.heartbeat_type_gcs; }
#if defined(MAVLINK_UDP) #if defined(MAVLINK_UDP)
static Mavlink *get_instance_for_network_port(unsigned long port); static Mavlink *get_instance_for_network_port(unsigned long port);
src/modules/mavlink/streams/STATUSTEXT.hpp
+2 -2
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@@ -68,7 +68,7 @@ private:
bool send() override bool send() override
{ {
if (_mavlink->is_connected()) { if (_mavlink->is_gcs_connected()) {
while (_mavlink_log_sub.updated() && (_mavlink->get_free_tx_buf() >= get_size())) { while (_mavlink_log_sub.updated() && (_mavlink->get_free_tx_buf() >= get_size())) {
const unsigned last_generation = _mavlink_log_sub.get_last_generation(); const unsigned last_generation = _mavlink_log_sub.get_last_generation();
@@ -77,7 +77,7 @@ private:
if (_mavlink_log_sub.update(&mavlink_log)) { if (_mavlink_log_sub.update(&mavlink_log)) {
// don't send stale messages // don't send stale messages
if (hrt_elapsed_time(&mavlink_log.timestamp) < 2_s) { if (hrt_elapsed_time(&mavlink_log.timestamp) < 5_s) {
if (_mavlink_log_sub.get_last_generation() != (last_generation + 1)) { if (_mavlink_log_sub.get_last_generation() != (last_generation + 1)) {
perf_count(_missed_msg_count_perf); perf_count(_missed_msg_count_perf);