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Copter: send both SYS_STATUS or POWER_STATUS or neither

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Peter Barker 2018-12-04 16:08:09 +11:00 committed by Randy Mackay
parent a5b5688960
commit 3d8588a636
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/GCS_Mavlink.cpp
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@ -277,9 +277,11 @@ bool GCS_MAVLINK_Copter::try_send_message(enum ap_message id)
// send extended status only once vehicle has been initialised // send extended status only once vehicle has been initialised
// to avoid unnecessary errors being reported to user // to avoid unnecessary errors being reported to user
if (copter.ap.initialised) { if (copter.ap.initialised) {
CHECK_PAYLOAD_SIZE(SYS_STATUS); if (PAYLOAD_SIZE(chan, SYS_STATUS) +
PAYLOAD_SIZE(chan, POWER_STATUS) > comm_get_txspace(chan)) {
return false;
}
copter.send_sys_status(chan); copter.send_sys_status(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
send_power_status(); send_power_status();
} }
break; break;