From 6e63307de8988fd8c415d8bee192594a7ef94327 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Thu, 24 Jul 2025 10:10:44 -0800
Subject: [PATCH] cleanup and notes

---
 mavlink_notes.md                         | 19 ++++++++++++++++++-
 src/modules/mavlink/mavlink_main.cpp     |  6 ++++--
 src/modules/mavlink/mavlink_receiver.cpp |  2 +-
 3 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/mavlink_notes.md b/mavlink_notes.md
index d7854b81cb..c7e346af6b 100644
--- a/mavlink_notes.md
+++ b/mavlink_notes.md
@@ -1,2 +1,19 @@
 ## Mavlink MAIN Loop
--
+- Some nonsense at the top for iridium mode
+- Calculate rate multiplier (look at impl)
+
+## These are kinda BS
+- Configure SiK radio (move!!!)
+- handleStatus() --> sets HIL mode or handles Iridium nonsense ... move!!!
+- handleCommands() --> iridium nonsense and gimbal v1 ... remove!
+- handleAndGetCurrentCommandAck() --> sends out ACKS, needs to be simplified
+- handleMavlinkShellOutput() --> sends out mavlink shell output if enabled
+- check_requested_subscriptions() --> configures streams that have been request, could be simplified
+
+## Not BS
+- Iterate over all streams and send
+- Send ulog data
+- check and send events
+- forward messages in message_buffer
+- update stats and publish telemetry status
+- BACK TO THE TOP
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index c3b7eaf45f..e349183a37 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2371,8 +2371,10 @@ Mavlink::task_main(int argc, char *argv[])
 
 	PX4_INFO("Total stream B/s --> %f", (double)total_bytes_per_s);
 
+	// MAIN LOOP
 	while (!should_exit()) {
-		/* main loop */
+
+		// Sleep shouldn't happen here
 		px4_usleep(_main_loop_delay);
 
 		if (!should_transmit()) {
@@ -2513,7 +2515,7 @@ Mavlink::task_main(int argc, char *argv[])
 		}
 
 		perf_end(_loop_perf);
-	}
+	} // END MAIN LOOP
 
 	_receiver.stop();
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 62d2ffc4d9..dc7e3f6948 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -3235,7 +3235,7 @@ MavlinkReceiver::run()
 							break;
 						}
 
-						_mavlink.set_has_received_messages(true); // Received first message, unlock wait to transmit '-w' command-line flag
+						_mavlink.set_has_received_messages(true);
 						update_rx_stats(msg);
 
 						if (_message_statistics_enabled) {