Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: Do not drop reassembly buffer for injected packets when a dupllicate fragment is received

This commit is contained in:
Tamas Nepusz 2022-07-19 00:46:16 +02:00 committed by Peter Barker
parent 0ef78dd77a
commit 6ca593a61d
1 changed files with 18 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AP_GPS/AP_GPS.cpp
View File

@ -1497,11 +1497,24 @@ void AP_GPS::handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_
const uint8_t fragment = (flags >> 1U) & 0x03;
const uint8_t sequence = (flags >> 3U) & 0x1F;
uint8_t* start_of_fragment_in_buffer = &rtcm_buffer->buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN * (uint16_t)fragment];
bool should_clear_previous_fragments = false;
// see if this fragment is consistent with existing fragments
if (rtcm_buffer->fragments_received &&
(rtcm_buffer->sequence != sequence ||
(rtcm_buffer->fragments_received & (1U<<fragment)))) {
if (rtcm_buffer->fragments_received) {
const bool sequence_nr_changed = rtcm_buffer->sequence != sequence;
const bool seen_this_fragment_index = rtcm_buffer->fragments_received & (1U << fragment);
// check whether this is a duplicate fragment. If it is, we can
// return early.
if (!sequence_nr_changed && seen_this_fragment_index && !memcmp(start_of_fragment_in_buffer, data, len)) {
return;
}
// not a duplicate
should_clear_previous_fragments = sequence_nr_changed || seen_this_fragment_index;
}
if (should_clear_previous_fragments) {
// we have one or more partial fragments already received
// which conflict with the new fragment, discard previous fragments
rtcm_buffer->fragment_count = 0;
@ -1513,7 +1526,7 @@ void AP_GPS::handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_
rtcm_buffer->fragments_received |= (1U << fragment);
// copy the data
memcpy(&rtcm_buffer->buffer[MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN*(uint16_t)fragment], data, len);
memcpy(start_of_fragment_in_buffer, data, len);
// when we get a fragment of less than max size then we know the
// number of fragments. Note that this means if you want to send a