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mavlink: retry timeout moved to define

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This commit is contained in:
Anton Babushkin
2014-06-10 14:32:37 +02:00
parent cad0877f67
commit 3015f2e7af
3 changed files with 10 additions and 7 deletions
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src/modules/mavlink/mavlink_main.cpp
+4 -3
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@@ -965,7 +965,8 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timestamp_last_send_request = 0;
state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->action_timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->retry_timeout = MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT;
int sys_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state));
if (sys_state_size == sizeof(sys_state)) {
@@ -1138,7 +1139,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq)
void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
{
/* check for timed-out operations */
if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
if (now - _wpm->timestamp_lastaction > _wpm->action_timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("Operation timeout");
@@ -1148,7 +1149,7 @@ void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
_wpm->current_partner_sysid = 0;
_wpm->current_partner_compid = 0;
} else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
} else if (now - _wpm->timestamp_last_send_request > _wpm->retry_timeout && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
/* try to get WP again after short timeout */
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
src/modules/mavlink/mavlink_main.h
+5 -3
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@@ -78,8 +78,9 @@ enum MAVLINK_WPM_CODES {
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication action timeout in useconds
#define MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT 500000 ///< Protocol communication retry timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
@@ -96,7 +97,8 @@ struct mavlink_wpm_storage {
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_last_send_request;
uint32_t timeout;
uint32_t action_timeout;
uint32_t retry_timeout;
};
src/modules/mavlink/waypoints.h
+1 -1
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@@ -88,7 +88,7 @@ struct mavlink_wpm_storage {
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint32_t timeout;
uint32_t action_timeout;
int current_dataman_id;
};