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mavlink_ulog_streaming: always send an ack (#5853)

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Fixes the case where an ack got lost and the FMU resends the data, but
the client does not resend the ack.
This commit is contained in:
Beat Küng
2016-11-14 17:06:21 +01:00
committed by Lorenz Meier
parent 896118281c
commit 2f19aebac0
1 changed files with 7 additions and 4 deletions
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Tools/mavlink_ulog_streaming.py
+7 -4
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@@ -123,14 +123,17 @@ class MavlinkLogStreaming():
# m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA': # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
is_newer, num_drops = self.check_sequence(m.sequence) is_newer, num_drops = self.check_sequence(m.sequence)
# return an ack, even we already sent it for the same sequence,
# because the ack could have been dropped
if m.get_type() == 'LOGGING_DATA_ACKED':
self.mav.mav.logging_ack_send(self.mav.target_system,
self.target_component, m.sequence)
if is_newer: if is_newer:
if num_drops > 0: if num_drops > 0:
self.num_dropouts += num_drops self.num_dropouts += num_drops
if m.get_type() == 'LOGGING_DATA_ACKED': if m.get_type() == 'LOGGING_DATA':
self.mav.mav.logging_ack_send(self.mav.target_system,
self.target_component, m.sequence)
else:
if not self.got_header_section: if not self.got_header_section:
print('Header received in {:0.2f}s'.format(timer()-self.start_time)) print('Header received in {:0.2f}s'.format(timer()-self.start_time))
self.logging_started = True self.logging_started = True