Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: only forward msg once per channel

Browse Source 
Issue found and alternative fix provided by Arthur Benemann
This commit is contained in:
Randy Mackay 2015-07-21 20:49:20 +09:00
parent 6f72d202fe
commit 521f3dc4b9
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -127,11 +127,13 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
// forward on any channels matching the targets
bool forwarded = false;
bool sent_to_chan[MAVLINK_COMM_NUM_BUFFERS];
memset(sent_to_chan, 0, sizeof(sent_to_chan));
for (uint8_t i=0; i<num_routes; i++) {
if (broadcast_system || (target_system == routes[i].sysid &&
(broadcast_component ||
target_component == routes[i].compid))) {
if (in_channel != routes[i].channel) {
if (in_channel != routes[i].channel && !sent_to_chan[routes[i].channel]) {
if (comm_get_txspace(routes[i].channel) >=
((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
#if ROUTING_DEBUG
@ -144,6 +146,7 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
#endif
_mavlink_resend_uart(routes[i].channel, msg);
}
sent_to_chan[routes[i].channel] = true;
forwarded = true;
}
}