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AP_HAL: fixed build and comments

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This commit is contained in:
Andrew Tridgell 2018-12-05 20:59:26 +11:00
parent 73672c90d1
commit a0be4f4c8d
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_HAL/utility/packetise.cpp
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@ -2,8 +2,11 @@
support for sending UDP packets on MAVLink packet boundaries.
*/
#include <stdint.h>
#include <AP_HAL/AP_HAL.h>
#ifndef HAL_BOOTLOADER_BUILD
#include <GCS_MAVLink/GCS.h>
#include "packetise.h"
/*
return the number of bytes to send for a packetised connection
@ -33,7 +36,9 @@ uint16_t mavlink_packetise(ByteBuffer &writebuf, uint16_t n)
return n;
}
// cope with both MAVLink1 and MAVLink2 packets
uint8_t min_length = (b == MAVLINK_STX_MAVLINK1)?8:12;
// this looks like a MAVLink packet - try to write on
// packet boundaries when possible
if (n < min_length) {
@ -41,12 +46,10 @@ uint16_t mavlink_packetise(ByteBuffer &writebuf, uint16_t n)
return 0;
}
// the length of the packet is the 2nd byte, and mavlink
// packets have a 6 byte header plus 2 byte checksum,
// giving len+8 bytes
// the length of the packet is the 2nd byte
int16_t len = writebuf.peek(1);
if (b == MAVLINK_STX) {
// check for signed packet with extra 13 bytes
// This is Mavlink2. Check for signed packet with extra 13 bytes
int16_t incompat_flags = writebuf.peek(2);
if (incompat_flags & MAVLINK_IFLAG_SIGNED) {
min_length += MAVLINK_SIGNATURE_BLOCK_LEN;
@ -64,3 +67,4 @@ uint16_t mavlink_packetise(ByteBuffer &writebuf, uint16_t n)
}
return n;
}
#endif // HAL_BOOTLOADER_BUILD