Discussions

Hey guys,

I have successfully added a new message into the ArduPlane program, and are using our own ground station to read the messages send down. I noticed however that when I insert the line: gcs_send_message(MSG_THERMO_ATTITUDE) anywhere, the horizon ball now has a 12 second lag to it when I move the ardupilot board around. This lag disappears as soon as I remove the gcs_send_message(MSG_THERMO_ATTITUDE) line.

I have tried putting the line in different speed loops, even in the slow 3 1/3 loop, but still a 12 second delay. I have tried pitting the line in the GCS_Mavlink tab in the following section of code(its at the bottom of the code segment) , but still there is a 12 second delay.

I have run out of ideas for why the message causes this delay. Any ideas would be welcomed. Thanks.

void
GCS_MAVLINK::data_stream_send(void)
{
    if (_queued_parameter != NULL) {
        if (streamRates[STREAM_PARAMS].get() <= 0) {
            streamRates[STREAM_PARAMS].set(50);
        }
        if (stream_trigger(STREAM_PARAMS)) {
            send_message(MSG_NEXT_PARAM);
        }
    }

    if (in_mavlink_delay) {
#if HIL_MODE != HIL_MODE_DISABLED
        // in HIL we need to keep sending servo values to ensure
        // the simulator doesn't pause, otherwise our sensor
        // calibration could stall
        if (stream_trigger(STREAM_RAW_CONTROLLER)) {
            send_message(MSG_SERVO_OUT);
        }
        if (stream_trigger(STREAM_RC_CHANNELS)) {
            send_message(MSG_RADIO_OUT);
        }
#endif
        // don't send any other stream types while in the delay callback
        return;
    }

    if (stream_trigger(STREAM_RAW_SENSORS)) {
        send_message(MSG_RAW_IMU1);
        send_message(MSG_RAW_IMU2);
        send_message(MSG_RAW_IMU3);
    }

    if (stream_trigger(STREAM_EXTENDED_STATUS)) {
        send_message(MSG_EXTENDED_STATUS1);
        send_message(MSG_EXTENDED_STATUS2);
        send_message(MSG_CURRENT_WAYPOINT);
        send_message(MSG_GPS_RAW);            // TODO - remove this message after location message is working
        send_message(MSG_NAV_CONTROLLER_OUTPUT);
        send_message(MSG_FENCE_STATUS);
    }

    if (stream_trigger(STREAM_POSITION)) {
        // sent with GPS read
        send_message(MSG_LOCATION);
    }

    if (stream_trigger(STREAM_RAW_CONTROLLER)) {
        send_message(MSG_SERVO_OUT);
    }

    if (stream_trigger(STREAM_RC_CHANNELS)) {
        send_message(MSG_RADIO_OUT);
        send_message(MSG_RADIO_IN);
    }

    if (stream_trigger(STREAM_EXTRA1)) {
        send_message(MSG_ATTITUDE);

        send_message(MSG_THERMO_ATTITUDE); 
        //send_message(MSG_SIMSTATE);
    }

    if (stream_trigger(STREAM_EXTRA2)) {
        send_message(MSG_VFR_HUD);
    }

    if (stream_trigger(STREAM_EXTRA3)) {
        send_message(MSG_AHRS);
        send_message(MSG_HWSTATUS);
        send_message(MSG_WIND);
        //send_message(MSG_THERMO_ATTITUDE);
    }
}