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mavlink: move ulog handling after stream updates

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reduces latency for the mavlink streams
This commit is contained in:
Beat Küng
2020-05-20 09:12:50 +02:00
parent d0ad308eda
commit fa8def903d
1 changed files with 20 additions and 20 deletions
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src/modules/mavlink/mavlink_main.cpp
+20 -20
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@@ -2341,6 +2341,26 @@ Mavlink::task_main(int argc, char *argv[])
} }
} }
check_requested_subscriptions();
/* update streams */
for (const auto &stream : _streams) {
stream->update(t);
if (!_first_heartbeat_sent) {
if (_mode == MAVLINK_MODE_IRIDIUM) {
if (stream->get_id() == MAVLINK_MSG_ID_HIGH_LATENCY2) {
_first_heartbeat_sent = stream->first_message_sent();
}
} else {
if (stream->get_id() == MAVLINK_MSG_ID_HEARTBEAT) {
_first_heartbeat_sent = stream->first_message_sent();
}
}
}
}
/* check for ulog streaming messages */ /* check for ulog streaming messages */
if (_mavlink_ulog) { if (_mavlink_ulog) {
if (_mavlink_ulog_stop_requested) { if (_mavlink_ulog_stop_requested) {
@@ -2366,26 +2386,6 @@ Mavlink::task_main(int argc, char *argv[])
} }
} }
check_requested_subscriptions();
/* update streams */
for (const auto &stream : _streams) {
stream->update(t);
if (!_first_heartbeat_sent) {
if (_mode == MAVLINK_MODE_IRIDIUM) {
if (stream->get_id() == MAVLINK_MSG_ID_HIGH_LATENCY2) {
_first_heartbeat_sent = stream->first_message_sent();
}
} else {
if (stream->get_id() == MAVLINK_MSG_ID_HEARTBEAT) {
_first_heartbeat_sent = stream->first_message_sent();
}
}
}
}
/* pass messages from other UARTs */ /* pass messages from other UARTs */
if (_forwarding_on) { if (_forwarding_on) {