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AP_DroneCAN: fixed queue ordering bug in sending DroneCAN frames

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this caused RTK RTCM data to be corrupted on send
This commit is contained in:
Andrew Tridgell 2023-06-07 15:52:37 +10:00
parent 0cfd9c2ed5
commit dc8366c31e
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_DroneCAN/AP_Canard_iface.cpp
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@ -197,7 +197,12 @@ void CanardInterface::processTx(bool raw_commands_only = false) {
bool write = true;
bool read = false;
ifaces[iface]->select(read, write, &txmsg, 0);
if ((AP_HAL::native_micros64() < txf->deadline_usec) && (txf->iface_mask & (1U<<iface)) && write) {
if (!write) {
// if there is no space then we need to start from the
// top of the queue, so wait for the next loop
break;
}
if ((txf->iface_mask & (1U<<iface)) && (AP_HAL::native_micros64() < txf->deadline_usec)) {
// try sending to interfaces, clearing the mask if we succeed
if (ifaces[iface]->send(txmsg, txf->deadline_usec, 0) > 0) {
txf->iface_mask &= ~(1U<<iface);