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

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 8f604a1035
commit f71674ffa4
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,