mirror of https://github.com/ArduPilot/ardupilot
AP_Compass: ensure we have payload space to send MAG_CAL messages
This commit is contained in:
parent
2baa0ac2f2
commit
6991a1b9e9
|
@ -2,6 +2,7 @@
|
||||||
#include <AP_HAL/AP_HAL.h>
|
#include <AP_HAL/AP_HAL.h>
|
||||||
#include "Compass.h"
|
#include "Compass.h"
|
||||||
#include <AP_Notify/AP_Notify.h>
|
#include <AP_Notify/AP_Notify.h>
|
||||||
|
#include <GCS_MAVLink/GCS.h>
|
||||||
|
|
||||||
extern AP_HAL::HAL& hal;
|
extern AP_HAL::HAL& hal;
|
||||||
|
|
||||||
|
@ -186,6 +187,11 @@ Compass::send_mag_cal_progress(mavlink_channel_t chan)
|
||||||
|
|
||||||
memset(completion_mask, 0, sizeof(completion_mask));
|
memset(completion_mask, 0, sizeof(completion_mask));
|
||||||
|
|
||||||
|
// ensure we don't try to send with no space available
|
||||||
|
if (!HAVE_PAYLOAD_SPACE(chan, MAG_CAL_PROGRESS)) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
mavlink_msg_mag_cal_progress_send(
|
mavlink_msg_mag_cal_progress_send(
|
||||||
chan,
|
chan,
|
||||||
compass_id, cal_mask,
|
compass_id, cal_mask,
|
||||||
|
@ -211,6 +217,11 @@ void Compass::send_mag_cal_report(mavlink_channel_t chan)
|
||||||
_calibrator[compass_id].get_calibration(ofs, diag, offdiag);
|
_calibrator[compass_id].get_calibration(ofs, diag, offdiag);
|
||||||
uint8_t autosaved = _calibrator[compass_id].get_autosave();
|
uint8_t autosaved = _calibrator[compass_id].get_autosave();
|
||||||
|
|
||||||
|
// ensure we don't try to send with no space available
|
||||||
|
if (!HAVE_PAYLOAD_SPACE(chan, MAG_CAL_REPORT)) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
mavlink_msg_mag_cal_report_send(
|
mavlink_msg_mag_cal_report_send(
|
||||||
chan,
|
chan,
|
||||||
compass_id, cal_mask,
|
compass_id, cal_mask,
|
||||||
|
|
Loading…
Reference in New Issue