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mavlink: only block parameter sync until boot complete

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This commit is contained in:
Daniel Agar
2021-08-30 13:27:51 +02:00
committed by Julian Oes
parent ab1c90d831
commit a917793248
2 changed files with 11 additions and 13 deletions
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src/modules/mavlink/mavlink_main.h
+1 -1
View File
@@ -417,7 +417,7 @@ public:
bool get_has_received_messages() { return _received_messages; }
void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
bool get_wait_to_transmit() { return _wait_to_transmit; }
bool should_transmit() { return (_transmitting_enabled && _boot_complete && (!_wait_to_transmit || (_wait_to_transmit && _received_messages))); }
bool should_transmit() { return (_transmitting_enabled && (!_wait_to_transmit || (_wait_to_transmit && _received_messages))); }
bool message_buffer_write(const void *ptr, int size);
src/modules/mavlink/mavlink_receiver.cpp
+10 -12
View File
@@ -3015,16 +3015,6 @@ MavlinkReceiver::run()
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_elapsed_time(&_mavlink->get_first_start_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;
@@ -3136,9 +3126,17 @@ MavlinkReceiver::run()
/* handle packet with mission manager */
_mission_manager.handle_message(&msg);
/* handle packet with parameter component */
_parameters_manager.handle_message(&msg);
if (_mavlink->boot_complete()) {
// make sure mavlink app has booted before we start processing parameter sync
_parameters_manager.handle_message(&msg);
} else {
if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) {
PX4_ERR("system boot did not complete in 20 seconds");
_mavlink->set_boot_complete();
}
}
if (_mavlink->ftp_enabled()) {
/* handle packet with ftp component */