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mavlink: check TX buffer before processing command ack

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This commit is contained in:
Daniel Agar
2020-12-27 18:44:16 -05:00
committed by Lorenz Meier
parent 8d5813994f
commit a66cb0cbaf
1 changed files with 19 additions and 16 deletions
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src/modules/mavlink/mavlink_main.cpp
+3
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@@ -2336,6 +2336,8 @@ Mavlink::task_main(int argc, char *argv[])
/* send command ACK */ /* send command ACK */
uint16_t current_command_ack = 0; uint16_t current_command_ack = 0;
if (ack_sub.updated() && (get_free_tx_buf() >= MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) {
vehicle_command_ack_s command_ack; vehicle_command_ack_s command_ack;
if (ack_sub.update(&command_ack)) { if (ack_sub.update(&command_ack)) {
@@ -2356,6 +2358,7 @@ Mavlink::task_main(int argc, char *argv[])
//_transmitting_enabled = _transmitting_enabled_temp; //_transmitting_enabled = _transmitting_enabled_temp;
} }
} }
}
/* check for shell output */ /* check for shell output */
if (_mavlink_shell && _mavlink_shell->available() > 0) { if (_mavlink_shell && _mavlink_shell->available() > 0) {