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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
+19 -16
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@@ -2336,24 +2336,27 @@ 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;
vehicle_command_ack_s command_ack;
if (ack_sub.update(&command_ack)) { if (ack_sub.updated() && (get_free_tx_buf() >= MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) {
if (!command_ack.from_external) { vehicle_command_ack_s command_ack;
mavlink_command_ack_t msg;
msg.result = command_ack.result;
msg.command = command_ack.command;
msg.progress = command_ack.result_param1;
msg.result_param2 = command_ack.result_param2;
msg.target_system = command_ack.target_system;
msg.target_component = command_ack.target_component;
current_command_ack = command_ack.command;
// TODO: always transmit the acknowledge once it is only sent over the instance the command is received if (ack_sub.update(&command_ack)) {
//bool _transmitting_enabled_temp = _transmitting_enabled; if (!command_ack.from_external) {
//_transmitting_enabled = true; mavlink_command_ack_t msg;
mavlink_msg_command_ack_send_struct(get_channel(), &msg); msg.result = command_ack.result;
//_transmitting_enabled = _transmitting_enabled_temp; msg.command = command_ack.command;
msg.progress = command_ack.result_param1;
msg.result_param2 = command_ack.result_param2;
msg.target_system = command_ack.target_system;
msg.target_component = command_ack.target_component;
current_command_ack = command_ack.command;
// TODO: always transmit the acknowledge once it is only sent over the instance the command is received
//bool _transmitting_enabled_temp = _transmitting_enabled;
//_transmitting_enabled = true;
mavlink_msg_command_ack_send_struct(get_channel(), &msg);
//_transmitting_enabled = _transmitting_enabled_temp;
}
} }
} }