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HAL_PX4: take account of available bytes in receive_time_constraint_us

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This commit is contained in:
Andrew Tridgell 2018-05-17 07:01:14 +10:00
parent b396b2a2e0
commit 36ebb14b2e
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -542,12 +542,12 @@ void PX4UARTDriver::_timer_tick(void)
A return value of zero means the HAL does not support this API
*/
uint64_t PX4UARTDriver::receive_time_constraint_us(uint16_t nbytes) const
uint64_t PX4UARTDriver::receive_time_constraint_us(uint16_t nbytes)
{
uint64_t last_receive_us = _receive_timestamp[_receive_timestamp_idx];
if (_baudrate > 0 && !_is_usb) {
// assume 10 bits per byte. For USB we assume zero transport delay
uint32_t transport_time_us = (1000000UL * 10UL / _baudrate) * nbytes;
uint32_t transport_time_us = (1000000UL * 10UL / _baudrate) * (nbytes+available());
last_receive_us -= transport_time_us;
}
return last_receive_us;

2
libraries/AP_HAL_PX4/UARTDriver.h
View File

@ -57,7 +57,7 @@ public:
A return value of zero means the HAL does not support this API
*/
uint64_t receive_time_constraint_us(uint16_t nbytes) const override;
uint64_t receive_time_constraint_us(uint16_t nbytes) override;
private:
const char *_devpath;