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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-10 14:32:37 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-10 14:32:37 +0200 |
commit | 3015f2e7af94e684c666689aa70c602f79810218 (patch) | |
tree | 33a942b684486309ef0e02c8709f26b29c1973b4 /src/modules/mavlink/mavlink_main.cpp | |
parent | cad0877f67c393b698b8fc4f242944c9e1ba1bc5 (diff) | |
download | px4-firmware-3015f2e7af94e684c666689aa70c602f79810218.tar.gz px4-firmware-3015f2e7af94e684c666689aa70c602f79810218.tar.bz2 px4-firmware-3015f2e7af94e684c666689aa70c602f79810218.zip |
mavlink: retry timeout moved to define
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 4e0597e80..52cae2085 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -965,7 +965,8 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state) state->timestamp_lastaction = 0; state->timestamp_last_send_setpoint = 0; state->timestamp_last_send_request = 0; - state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + state->action_timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + state->retry_timeout = MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT; int sys_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state)); if (sys_state_size == sizeof(sys_state)) { @@ -1138,7 +1139,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) void Mavlink::mavlink_waypoint_eventloop(uint64_t now) { /* check for timed-out operations */ - if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + if (now - _wpm->timestamp_lastaction > _wpm->action_timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { mavlink_missionlib_send_gcs_string("Operation timeout"); @@ -1148,7 +1149,7 @@ void Mavlink::mavlink_waypoint_eventloop(uint64_t now) _wpm->current_partner_sysid = 0; _wpm->current_partner_compid = 0; - } else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + } else if (now - _wpm->timestamp_last_send_request > _wpm->retry_timeout && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { /* try to get WP again after short timeout */ mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); } |