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HAL_PX4: don't clear buffers if no baudrate change

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This commit is contained in:
Andrew Tridgell 2018-07-12 09:01:37 +10:00
parent 84624fbbf6
commit 84a6c18c43
1 changed files with 12 additions and 5 deletions
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17
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -78,12 +78,18 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_initialised = false; _initialised = false;
_readbuf.set_size(rxS); _readbuf.set_size(rxS);
} }
if (hal.console != this) { // don't clear USB buffers (allows early startup messages to escape)
_readbuf.clear(); bool clear_buffers = false;
if (b != 0) {
// clear buffers on baudrate change, but not on the console (which is usually USB)
if (_baudrate != b && hal.console != this) {
clear_buffers = true;
}
_baudrate = b;
} }
if (b != 0) { if (clear_buffers) {
_baudrate = b; _readbuf.clear();
} }
/* /*
@ -96,7 +102,8 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_initialised = false; _initialised = false;
_writebuf.set_size(txS); _writebuf.set_size(txS);
} }
if (hal.console != this) { // don't clear USB buffers (allows early startup messages to escape)
if (clear_buffers) {
_writebuf.clear(); _writebuf.clear();
} }