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mavlink: keep trying to find to broadcast

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This should help the Snapdragon to connect if the network is not yet up
by the time the mainapp starts. It will retry to find a network and
broadcast once it finds one.
This commit is contained in:
Julian Oes
2016-04-08 16:35:19 +02:00
committed by Lorenz Meier
parent 0ddf720759
commit 727783fe94
1 changed files with 12 additions and 5 deletions
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src/modules/mavlink/mavlink_main.cpp
+9 -2
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@@ -885,8 +885,14 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
if ((_mode != MAVLINK_MODE_ONBOARD) && if ((_mode != MAVLINK_MODE_ONBOARD) &&
(!get_client_source_initialized() (!get_client_source_initialized()
|| (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000)) || (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000))
&& (msgid == MAVLINK_MSG_ID_HEARTBEAT) && (msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
&& _broadcast_address_found) {
if (!_broadcast_address_found) {
// Try to initialize UDP and broadcast address again.
init_udp();
}
if (_broadcast_address_found) {
int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr)); int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
@@ -894,6 +900,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
PX4_WARN("sending broadcast failed, errno: %d: %s", errno, strerror(errno)); PX4_WARN("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
} }
} }
}
} else if (get_protocol() == TCP) { } else if (get_protocol() == TCP) {
/* not implemented, but possible to do so */ /* not implemented, but possible to do so */