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mavlink: HEARTBEAT stream check free tx buf before send

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This commit is contained in:
Daniel Agar
2020-12-27 19:12:59 -05:00
committed by Lorenz Meier
parent e06d218ff2
commit dcb897307d
1 changed files with 14 additions and 10 deletions
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src/modules/mavlink/mavlink_messages.cpp
+14 -10
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@@ -452,19 +452,23 @@ protected:
bool send() override
{
// always send the heartbeat, independent of the update status of the topics
vehicle_status_s status{};
_status_sub.copy(&status);
if (_mavlink->get_free_tx_buf() >= get_size()) {
// always send the heartbeat, independent of the update status of the topics
vehicle_status_s status{};
_status_sub.copy(&status);
uint8_t base_mode = 0;
uint32_t custom_mode = 0;
uint8_t system_status = 0;
get_mavlink_mode_state(&status, &system_status, &base_mode, &custom_mode);
uint8_t base_mode = 0;
uint32_t custom_mode = 0;
uint8_t system_status = 0;
get_mavlink_mode_state(&status, &system_status, &base_mode, &custom_mode);
mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4,
base_mode, custom_mode, system_status);
mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4,
base_mode, custom_mode, system_status);
return true;
return true;
}
return false;
}
};