fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: update radio status timestamp atomically

Browse Source 
- this is updated by the mavlink rx thread, but checked in the tx thread
This commit is contained in:
Daniel Agar 2021-08-22 11:06:55 -04:00
parent 61702d0d97
commit a4527485a3
2 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/mavlink/mavlink_main.cpp
View File

@ -1457,7 +1457,7 @@ Mavlink::update_rate_mult()
} else if (_radio_status_available) {
// check for RADIO_STATUS timeout and reset
if (hrt_elapsed_time(&_rstatus.timestamp) > (_param_mav_radio_timeout.get() * 1_s)) {
if (hrt_elapsed_time_atomic(&_rstatus.timestamp) > (_param_mav_radio_timeout.get() * 1_s)) {
PX4_ERR("instance %d: RADIO_STATUS timeout", _instance_id);
_radio_status_available = false;

2
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -1506,7 +1506,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
radio_status_s status{};
status.timestamp = hrt_absolute_time();
hrt_store_absolute_time(&status.timestamp);
status.rssi = rstatus.rssi;
status.remote_rssi = rstatus.remrssi;
status.txbuf = rstatus.txbuf;