mavlink: use RADIO_STATUS to regulate parameter sending

src/modules/mavlink/mavlink_main.cpp

@@ -1476,6 +1476,9 @@ Mavlink::update_radio_status(const radio_status_s &radio_status)
 			/* this indicates spare bandwidth, increase by 2.5% */
 			_radio_status_mult *= 1.025f;
 		}
+
+		/* Constrain radio status multiplier between 1% and 100% to allow recovery */
+		_radio_status_mult = math::constrain(_radio_status_mult, 0.01f, 1.0f);
 	}
 }
 

src/modules/mavlink/mavlink_main.h

@@ -518,6 +518,8 @@ public:
 
 	static hrt_abstime &get_first_start_time() { return _first_start_time; }
 
+	bool radio_status_critical() const { return _radio_status_critical; }
+
 private:
 	int			_instance_id{0};
 

src/modules/mavlink/mavlink_parameters.cpp

@@ -329,7 +329,8 @@ MavlinkParametersManager::send()
 	int i = 0;
 
 	// Send while burst is not exceeded, we still have buffer space and still something to send
-	while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && send_params()) {}
+	while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
+	       && send_params()) {}
 }
 
 bool
@@ -390,7 +391,8 @@ MavlinkParametersManager::send_untransmitted()
 					break;
 				}
 			}
-		} while ((_mavlink->get_free_tx_buf() >= get_size()) && (_param_update_index < (int) param_count()));
+		} while ((_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
+			 && (_param_update_index < (int) param_count()));
 
 		// Flag work as done once all params have been sent
 		if (_param_update_index >= (int) param_count()) {