From 28d49834c0f213af87e7e690e5eb974531cf70dd Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sun, 14 May 2023 16:08:36 +1000 Subject: [PATCH] AP_Scripting: do semaphore lock when sending mavlink message from lua --- libraries/AP_Scripting/lua_bindings.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp index 52e512a59f..8e8119586a 100644 --- a/libraries/AP_Scripting/lua_bindings.cpp +++ b/libraries/AP_Scripting/lua_bindings.cpp @@ -144,6 +144,8 @@ int lua_mavlink_send_chan(lua_State *L) { if (entry == nullptr) { return luaL_error(L, "Unknown MAVLink message ID (%d)", msgid); } + + WITH_SEMAPHORE(comm_chan_lock(chan)); if (comm_get_txspace(chan) >= (GCS_MAVLINK::packet_overhead_chan(chan) + entry->max_msg_len)) { _mav_finalize_message_chan_send(chan, entry->msgid,