From 360e58abdea530eb9260dd8baa9bc7fa0f906191 Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Fri, 28 Jun 2013 19:03:25 +0200
Subject: [PATCH] eventdispatcher, limit event callback count fired in one go

---
 flight/uavobjects/eventdispatcher.c | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/flight/uavobjects/eventdispatcher.c b/flight/uavobjects/eventdispatcher.c
index 03e0c646c..586a68cc6 100644
--- a/flight/uavobjects/eventdispatcher.c
+++ b/flight/uavobjects/eventdispatcher.c
@@ -287,11 +287,16 @@ static void eventTask()
     EventCallbackInfo evInfo;
 
     // Wait for queue message
+    int limit = MAX_QUEUE_SIZE;
     while (xQueueReceive(mQueue, &evInfo, 0) == pdTRUE) {
-        // Invoke callback, if one
+        // Invoke callback, if any
         if (evInfo.cb != 0) {
             evInfo.cb(&evInfo.ev); // the function is expected to copy the event information
         }
+	// limit loop to max queue size to slightly reduce the impact of recursive events
+	if (!--limit) {
+		break;
+	}
     }
 
     // Process periodic updates