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AP_Compass: ensure we have payload space to send MAG_CAL messages

This commit is contained in:
Andrew Tridgell 2015-09-07 08:58:11 +10:00
parent 2baa0ac2f2
commit 6991a1b9e9
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -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,