mavlink: lock sending messages outside #14673
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This is an attempt to prevent any of the 3 parts of a MAVLink message to end up on the buffer without the other parts. When partial messages end up on the buffer it will cause message drops because the parser reads too far and will miss the subsequent message. By locking around the full process and preventing races between the message senders in the receiver thread and the actual sending threads we prevent message drops which e.g. leads to a cleaner initial param download.
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#12967 is better, closing. |
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This is an attempt to prevent any of the 3 parts of a MAVLink message to end up on the buffer without the other parts. When partial messages end up on the buffer it will cause message drops because the parser reads too far and will miss the subsequent message.
By locking around the full process and preventing races between the message senders in the receiver thread and the actual sending threads we prevent message drops which e.g. leads to a cleaner initial param download.
This is an alternative to #12967. The param download works equally well, so 100% for the tested cases but CPU usage of the MAVLink threads is almost doubled, so this PR is clearly much worse.
I'm not sure why that's the case though it must have something to do with the locking.
For the test data, check: https://docs.google.com/spreadsheets/d/1aAT58x1zVd6_5bL9NjCOnc87Eoy4Aa3QMd-cmwZXI8A