called on idle

def idle_task(self):
        '''called on idle'''
        if self.module('console') is not None and not self.menu_added_console:
            self.menu_added_console = True
            self.module('console').add_menu(self.menu)
        if self.module('map') is not None and not self.menu_added_map:
            self.menu_added_map = True
            self.module('map').add_menu(self.menu)

        '''handle abort command; it is critical that the AP to receive it'''
        if self.abort_ack_received is False:
            #only send abort every second (be insistent, but don't spam)
            if (time.time() - self.abort_previous_send_time > 1):
                self.master.mav.command_long_send(self.settings.target_system,
                    self.settings.target_component,
                    mavutil.mavlink.MAV_CMD_DO_GO_AROUND,
                    0, int(self.abort_alt), 0, 0, 0, 0, 0, 0,)
                self.abort_previous_send_time = time.time()

            #try to get an ACK from the plane:
            if self.abort_first_send_time == 0:
                self.abort_first_send_time = time.time()
            elif time.time() - self.abort_first_send_time > 10: #give up after 10 seconds
                print ("Unable to send abort command!\n")
                self.abort_ack_received = True