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GCS_MAVLink: check reply channel for space rather than current channel

This commit is contained in:
Peter Barker 2019-09-25 09:42:18 +10:00 committed by Andrew Tridgell
parent 65c3d4ff20
commit fffed10692
1 changed files with 8 additions and 9 deletions
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17
libraries/GCS_MAVLink/GCS_Param.cpp
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@ -402,8 +402,8 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
uint8_t async_replies_sent_count = 0; uint8_t async_replies_sent_count = 0;
while (async_replies_sent_count < 5) { while (async_replies_sent_count < 5) {
if (param_replies.empty()) { struct pending_param_reply reply;
// nothing to do if (!param_replies.peek(reply)) {
return async_replies_sent_count; return async_replies_sent_count;
} }
@ -413,18 +413,12 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
*/ */
uint32_t saved_reserve_param_space_start_ms = reserve_param_space_start_ms; uint32_t saved_reserve_param_space_start_ms = reserve_param_space_start_ms;
reserve_param_space_start_ms = 0; // bypass packet_overhead_chan reservation checking reserve_param_space_start_ms = 0; // bypass packet_overhead_chan reservation checking
if (!HAVE_PAYLOAD_SPACE(chan, PARAM_VALUE)) { if (!HAVE_PAYLOAD_SPACE(reply.chan, PARAM_VALUE)) {
reserve_param_space_start_ms = AP_HAL::millis(); reserve_param_space_start_ms = AP_HAL::millis();
return async_replies_sent_count; return async_replies_sent_count;
} }
reserve_param_space_start_ms = saved_reserve_param_space_start_ms; reserve_param_space_start_ms = saved_reserve_param_space_start_ms;
struct pending_param_reply reply;
if (!param_replies.pop(reply)) {
// internal error
return async_replies_sent_count;
}
mavlink_msg_param_value_send( mavlink_msg_param_value_send(
reply.chan, reply.chan,
reply.param_name, reply.param_name,
@ -435,6 +429,11 @@ uint8_t GCS_MAVLINK::send_parameter_async_replies()
_queued_parameter_send_time_ms = AP_HAL::millis(); _queued_parameter_send_time_ms = AP_HAL::millis();
async_replies_sent_count++; async_replies_sent_count++;
if (!param_replies.pop()) {
// internal error...
return async_replies_sent_count;
}
} }
return async_replies_sent_count; return async_replies_sent_count;
} }