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Mavlink: wait for boot complete before sending or receiving anything

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This commit is contained in:
Daniel Agar
2019-09-18 09:07:55 -04:00
committed by GitHub
parent be61d93d64
commit 494f35d5f4
3 changed files with 17 additions and 19 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+12 -7
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@@ -2517,11 +2517,21 @@ MavlinkReceiver::Run()
{
/* set thread name */
{
char thread_name[24];
sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
char thread_name[17];
snprintf(thread_name, sizeof(thread_name), "mavlink_rcv_if%d", _mavlink->get_instance_id());
px4_prctl(PR_SET_NAME, thread_name, px4_getpid());
}
// make sure mavlink app has booted before we start processing anything (parameter sync, etc)
while (!_mavlink->boot_complete()) {
if (hrt_absolute_time() > 20_s) {
PX4_ERR("system boot did not complete in 20 seconds");
_mavlink->set_boot_complete();
}
px4_usleep(100000);
}
// poll timeout in ms. Also defines the max update frequency of the mission & param manager, etc.
const int timeout = 10;
@@ -2549,11 +2559,6 @@ MavlinkReceiver::Run()
socklen_t addrlen = sizeof(srcaddr);
if (_mavlink->get_protocol() == UDP || _mavlink->get_protocol() == TCP) {
// make sure mavlink app has booted before we start using the socket
while (!_mavlink->boot_complete()) {
px4_usleep(100000);
}
fds[0].fd = _mavlink->get_socket_fd();
fds[0].events = POLLIN;
}