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mavlink: CAMERA_TRIGGER stream check free tx buf before send

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This commit is contained in:
Daniel Agar
2020-12-27 19:18:12 -05:00
committed by Lorenz Meier
parent ae706537b8
commit ceadcd74d0
1 changed files with 7 additions and 2 deletions
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src/modules/mavlink/mavlink_messages.cpp
+7 -2
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@@ -2131,7 +2131,12 @@ public:
unsigned get_size() override unsigned get_size() override
{ {
return _trigger_sub.advertised() ? MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0; if (_trigger_sub.advertised()) {
return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES
+ MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; // TODO: MAV_CMD_DO_DIGICAM_CONTROL
}
return 0;
} }
private: private:
@@ -2149,7 +2154,7 @@ protected:
{ {
camera_trigger_s trigger; camera_trigger_s trigger;
if (_trigger_sub.update(&trigger)) { if ((_mavlink->get_free_tx_buf() >= get_size()) && _trigger_sub.update(&trigger)) {
mavlink_camera_trigger_t msg{}; mavlink_camera_trigger_t msg{};
msg.time_usec = trigger.timestamp; msg.time_usec = trigger.timestamp;