From dd166855d86bdcdeaf2f17e58399c9af428e6788 Mon Sep 17 00:00:00 2001
From: davidsastresas <davidsastresas@gmail.com>
Date: Mon, 20 May 2024 10:53:57 +0200
Subject: [PATCH] GimbalController: start handshake only after parameters are
 donwloaded:

Could interfere with parameter download on Herelink slower link
---
 src/Gimbal/GimbalController.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/Gimbal/GimbalController.cc b/src/Gimbal/GimbalController.cc
index 471bed3..f05e1cd 100644
--- a/src/Gimbal/GimbalController.cc
+++ b/src/Gimbal/GimbalController.cc
@@ -4,6 +4,7 @@
 #include "Vehicle.h"
 #include "QGCApplication.h"
 #include "SettingsManager.h"
+#include "ParameterManager.h"
 
 #include <Eigen/Eigen>
 
@@ -108,6 +109,11 @@ GimbalController::setActiveGimbal(Gimbal* gimbal)
 void
 GimbalController::_mavlinkMessageReceived(const mavlink_message_t& message)
 {
+    // Don't proceed until parameters are ready, otherwise the gimbal controller handshake
+    // could potentially not work due to the high traffic for parameters, mission download, etc
+    if (!_vehicle->parameterManager()->parametersReady() ) {
+        return;
+    }
     switch (message.msgid) {
         case MAVLINK_MSG_ID_HEARTBEAT:
             _handleHeartbeat(message);