From efa109cfc1c4969b394af5ab63f0cae2783b3849 Mon Sep 17 00:00:00 2001
From: davidsastresas <davidsastresas@gmail.com>
Date: Mon, 20 May 2024 10:59:34 +0200
Subject: [PATCH] GimbalController: Limit how fast we send gimbal status
 message request:

There was no wait between such requests, and Ardupilot was failing
to detect the handshake some times
---
 src/Gimbal/GimbalController.cc | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/Gimbal/GimbalController.cc b/src/Gimbal/GimbalController.cc
index f05e1cd..cdb8853 100644
--- a/src/Gimbal/GimbalController.cc
+++ b/src/Gimbal/GimbalController.cc
@@ -310,8 +310,11 @@ GimbalController::_checkComplete(Gimbal& gimbal, uint8_t compid)
         _requestGimbalInformation(compid);
         --gimbal._requestInformationRetries;
     }
-
-    if (!gimbal._receivedStatus && gimbal._requestStatusRetries > 0) {
+    // Limit to 1 second between set message interfacl requests
+    static qint64 lastRequestStatusMessage = 0;
+    qint64 now = QDateTime::currentMSecsSinceEpoch();
+    if (!gimbal._receivedStatus && gimbal._requestStatusRetries > 0 && now - lastRequestStatusMessage > 1000) {
+        lastRequestStatusMessage = now;
         _vehicle->sendMavCommand(compid,
                                  MAV_CMD_SET_MESSAGE_INTERVAL,
                                  false /* no error */,