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mavlink_ulog: check for lost ulog_stream ulog messages

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Beat Küng
2021-02-15 11:01:01 +01:00
committed by Daniel Agar
parent 5a046cae7e
commit cfef0c5d5a
1 changed files with 9 additions and 1 deletions
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src/modules/mavlink/mavlink_ulog.cpp
+9 -1
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@@ -128,7 +128,15 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
} }
} }
while ((_current_num_msgs < _max_num_messages) && _ulog_stream_sub.update()) {
while ((_current_num_msgs < _max_num_messages) && _ulog_stream_sub.updated()) {
const unsigned last_generation = _ulog_stream_sub.get_last_generation();
_ulog_stream_sub.update();
if (_ulog_stream_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("ulog_stream lost, generation %d -> %d", last_generation, _ulog_stream_sub.get_last_generation());
}
const ulog_stream_s &ulog_data = _ulog_stream_sub.get(); const ulog_stream_s &ulog_data = _ulog_stream_sub.get();
if (ulog_data.timestamp > 0) { if (ulog_data.timestamp > 0) {