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GCS: don't send low priority messages unless they fit

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check the serial transmit buffer, and don't send low priority messages
unless they can go straight out without blocking the CPU
This commit is contained in:
Andrew Tridgell 2011-09-18 18:03:51 +10:00
parent 55cd7bcf1d
commit 9351ef17a9
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/GCS_Mavlink.pde
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@ -464,6 +464,14 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
// bootup, to try to prevent Xbee bricking
return;
}
if (severity == SEVERITY_LOW &&
comm_get_txspace(chan) < MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_STATUSTEXT_LEN) {
// don't send low priority messages unless they immediately
// fit in the serial buffer
return;
}
mavlink_msg_statustext_send(
chan,
severity,