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

GCS_MAVLink: check reply channel for space rather than current channel

This commit is contained in:
Peter Barker 2019-09-25 09:42:18 +10:00 committed by Randy Mackay
parent 8d18b973ff
commit 7df56a8533
1 changed files with 8 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/GCS_MAVLink/GCS_Param.cpp
View File

@ -400,8 +400,8 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
uint8_t async_replies_sent_count = 0; uint8_t async_replies_sent_count = 0;
while (async_replies_sent_count < 5) { while (async_replies_sent_count < 5) {
if (param_replies.empty()) { struct pending_param_reply reply;
// nothing to do if (!param_replies.peek(reply)) {
return async_replies_sent_count; return async_replies_sent_count;
} }
@ -411,18 +411,12 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
*/ */
uint32_t saved_reserve_param_space_start_ms = reserve_param_space_start_ms; uint32_t saved_reserve_param_space_start_ms = reserve_param_space_start_ms;
reserve_param_space_start_ms = 0; // bypass packet_overhead_chan reservation checking reserve_param_space_start_ms = 0; // bypass packet_overhead_chan reservation checking
if (!HAVE_PAYLOAD_SPACE(chan, PARAM_VALUE)) { if (!HAVE_PAYLOAD_SPACE(reply.chan, PARAM_VALUE)) {
reserve_param_space_start_ms = AP_HAL::millis(); reserve_param_space_start_ms = AP_HAL::millis();
return async_replies_sent_count; return async_replies_sent_count;
} }
reserve_param_space_start_ms = saved_reserve_param_space_start_ms; reserve_param_space_start_ms = saved_reserve_param_space_start_ms;
struct pending_param_reply reply;
if (!param_replies.pop(reply)) {
// internal error
return async_replies_sent_count;
}
mavlink_msg_param_value_send( mavlink_msg_param_value_send(
reply.chan, reply.chan,
reply.param_name, reply.param_name,
@ -433,6 +427,11 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
_queued_parameter_send_time_ms = AP_HAL::millis(); _queued_parameter_send_time_ms = AP_HAL::millis();
async_replies_sent_count++; async_replies_sent_count++;
if (!param_replies.pop()) {
// internal error...
return async_replies_sent_count;
}
} }
return async_replies_sent_count; return async_replies_sent_count;
} }