code: def idle_task(self):
          '''handle mavlink packets'''
          if self.accelcal_count != -1:
              if self.accelcal_wait_enter and self.empty_input_count != self.mpstate.empty_input_count:
                  self.accelcal_wait_enter = False
                  self.accelcal_count += 1
                  # tell the APM that user has done as requested
                  self.master.mav.command_ack_send(self.accelcal_count, 1)
                  if self.accelcal_count >= 6:
                      self.accelcal_count = -1
  
          if self.compassmot_running:
              if self.mpstate.empty_input_count != self.empty_input_count:
                  # user has hit enter, stop the process
                      self.compassmot_running = False
                      print("sending stop")
                      self.master.mav.command_ack_send(0, 1f idle_task(self):
          '''handle mavlink packets'''
          if self.accelcal_count != -1:
              if self.accelcal_wait_enter and self.empty_input_count != self.mpstate.empty_input_count:
                  self.accelcal_wait_enter = False
                  self.accelcal_count += 1
                  # tell the APM that user has done as requested
                  self.master.mav.command_ack_send(self.accelcal_count, 1)
                  if self.accelcal_count >= 6:
                      self.accelcal_count = -1
  
          if self.compassmot_running:
              if self.mpstate.empty_input_count != self.empty_input_count:
                  # user has hit enter, stop the process
                      self.compassmot_running = False
                      print("sending stop")
                      self.master.mav.command_ack_send(0, 1)
docs: handle mavlink packets