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HAL_Linux: fixed a bug with UDP packetisation

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this fixes a bug where we would send UDP MAVLink packets larger than 300 bytes
This commit is contained in:
Andrew Tridgell 2015-12-14 18:26:21 +11:00
parent 4f612f5d69
commit 0a36503742
1 changed files with 19 additions and 0 deletions
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19
libraries/AP_HAL_Linux/UARTDriver.cpp
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@ -496,6 +496,25 @@ bool UARTDriver::_write_pending_bytes(void)
uint16_t _tail;
uint16_t available_bytes = BUF_AVAILABLE(_writebuf);
n = available_bytes;
if (_packetise && n > 0 && _writebuf[_writebuf_head] != 254) {
/*
we have a non-mavlink packet at the start of the
buffer. Look ahead for a MAVLink start byte, up to 256 bytes
ahead
*/
uint16_t limit = n>256?256:n;
uint16_t i;
for (i=0; i<limit; i++) {
if (_writebuf[(_writebuf_head + i) % _writebuf_size] == 254) {
n = i;
break;
}
}
// if we didn't find a MAVLink marker then limit the send size to 256
if (i == limit) {
n = limit;
}
}
if (_packetise && n > 0 && _writebuf[_writebuf_head] == 254) {
// this looks like a MAVLink packet - try to write on
// packet boundaries when possible