From db2736c297d66a504492c3a9d28e716c4f76cc2b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 26 Oct 2022 16:31:35 +1100
Subject: [PATCH] GCS_MAVLink: correct potential uint underflow in stream
 slowdown

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index cac7bac41a..46281153e2 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -792,7 +792,11 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_rad
         stream_slowdown_ms -= 40;
     } else if (packet.txbuf > 90 && stream_slowdown_ms != 0) {
         // the buffer has enough space, speed up a bit
-        stream_slowdown_ms -= 20;
+        if (stream_slowdown_ms > 20) {
+            stream_slowdown_ms -= 20;
+        } else {
+            stream_slowdown_ms = 0;
+        }
     }
 
 #if GCS_DEBUG_SEND_MESSAGE_TIMINGS