From d5078aeba2eaed69c4e5833a74470e6ac31abcc3 Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sun, 14 Jun 2020 09:25:57 -0700
Subject: [PATCH] Remove mutex from Vehicle::sendMessageOnLinkThreadSafe.

---
 src/Vehicle/Vehicle.cc | 4 +---
 src/Vehicle/Vehicle.h  | 1 -
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index cf9b8d79a..cde36d2c3 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2102,14 +2102,12 @@ void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
 
 bool Vehicle::sendMessageOnLinkThreadSafe(LinkInterface* link, mavlink_message_t message)
 {
-    QMutexLocker lock(&_sendMessageOnLinkMutex);
-
     if (!link->isConnected()) {
         return false;
     }
 
     // Give the plugin a chance to adjust
-    _firmwarePlugin->adjustOutgoingMavlinkMessage(this, link, &message);
+    _firmwarePlugin->adjustOutgoingMavlinkMessageThreadSafe(this, link, &message);
 
     // Write message into buffer, prepending start sign
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index acb89feb3..9d35abb58 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -1412,7 +1412,6 @@ private:
     bool            _highLatencyLink;
     bool            _receivingAttitudeQuaternion;
     CheckList       _checkListState = CheckListNotSetup;
-    QMutex          _sendMessageOnLinkMutex;
 
     QGCCameraManager* _cameras;
 
-- 
2.22.0