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GimbalController: start handshake only after parameters are donwloaded:

Could interfere with parameter download on Herelink slower link
QGC4.4
davidsastresas 9 months ago
parent
commit
dd166855d8
  1. 6
      src/Gimbal/GimbalController.cc

6
src/Gimbal/GimbalController.cc

@ -4,6 +4,7 @@ @@ -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) @@ -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);

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