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AntennaTracker: use GCS_MAVLINK::packet_overhead_chan()

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This commit is contained in:
Andrew Tridgell 2016-04-05 14:08:24 +10:00
parent 006b9728d0
commit d4cb7b8970
1 changed files with 4 additions and 2 deletions
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6
AntennaTracker/GCS_Mavlink.cpp
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@ -510,7 +510,8 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
for (uint8_t i=0; i < num_gcs; i++) {
if (gcs[i].initialised) {
// request position
if (comm_get_txspace((mavlink_channel_t)i) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_DATA_STREAM_LEN) {
if (comm_get_txspace((mavlink_channel_t)i) >=
GCS_MAVLINK::packet_overhead_chan((mavlink_channel_t)i) + MAVLINK_MSG_ID_DATA_STREAM_LEN) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
msg->sysid,
@ -520,7 +521,8 @@ void Tracker::mavlink_check_target(const mavlink_message_t* msg)
1); // start streaming
}
// request air pressure
if (comm_get_txspace((mavlink_channel_t)i) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_DATA_STREAM_LEN) {
if (comm_get_txspace((mavlink_channel_t)i) >=
GCS_MAVLINK::packet_overhead_chan((mavlink_channel_t)i) + MAVLINK_MSG_ID_DATA_STREAM_LEN) {
mavlink_msg_request_data_stream_send(
(mavlink_channel_t)i,
msg->sysid,