From e2c657ede0049d372b7171b696ba1ef64f309ba4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Aug 2015 00:13:09 +0200 Subject: [PATCH] MAVLink params: Eventually time out to make QGC happy, but let the user know that the boot failed. --- src/modules/mavlink/mavlink_parameters.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index 66c6a87176..6903ebfc8c 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -215,6 +215,10 @@ MavlinkParametersManager::send(const hrt_abstime t) if ((p == PARAM_INVALID) || (_send_all_index >= (int) param_count())) { _send_all_index = -1; } + } else if (_send_all_index == 0 && hrt_absolute_time() > 20 * 1000 * 1000) { + /* the boot did not seem to ever complete, warn user and set boot complete */ + _mavlink->send_statustext_critical("WARNING: SYSTEM BOOT INCOMPLETE. CHECK CONFIG."); + _mavlink->set_boot_complete(); } }