From 24494cee0ac80b9fa86f1624864cc5a48d29a7d1 Mon Sep 17 00:00:00 2001
From: vivek-shankar <robovivek@gmail.com>
Date: Wed, 25 Jan 2017 23:33:04 -0500
Subject: [PATCH] changes in sending and lots of untested stuff

---
 launch/xbeemav.launch        |  4 ++--
 src/CommunicationManager.cpp | 14 +++++++++++---
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/launch/xbeemav.launch b/launch/xbeemav.launch
index b2e7c80..060dac3 100644
--- a/launch/xbeemav.launch
+++ b/launch/xbeemav.launch
@@ -1,8 +1,8 @@
 <launch>
 	<!--  xmee_mav Drone type and Commununication Mode -->
 	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
-	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master swarm" output="screen" -->
-	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" />
+	<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master swarm" output="screen" />
+	<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
 	<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
 	<!--  xmee_mav Topics and Services Names -->
 	<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
diff --git a/src/CommunicationManager.cpp b/src/CommunicationManager.cpp
index b421ae3..f04f6ed 100644
--- a/src/CommunicationManager.cpp
+++ b/src/CommunicationManager.cpp
@@ -530,15 +530,18 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
 		uint16_t check_sum = (uint16_t)Caculate_Checksum(&frame);
 		uint16_t cnt=0;
 		uint16_t number=1;
-		uint16_t total =ceil((double)(mavlink_msg->payload64.size()/20));
+		uint16_t total =ceil((double)((double)mavlink_msg->payload64.size()/(double)20));
+		std::cout <<"Payload size" <<mavlink_msg->payload64.size() << std::endl;
 		uint64_t header = 0 | ((uint64_t)check_sum << 16) | ((uint64_t)number << 32) |((uint64_t) total << 48) ;
+		std::cout << "Total chunks:" <<total << std::endl;
 		//temporary_buffer[MAX_BUFFER_SIZE]="";
 		frame="";
 		converted_bytes= sprintf(
 				temporary_buffer,  "%" PRIu64 " ",
-				(uint64_t)header);		
+				(uint64_t)header);	
 		for (int i =0; i<mavlink_msg->payload64.size(); i++)
 		{
+			
 			if(cnt<20){
 				converted_bytes += sprintf(
 				temporary_buffer+converted_bytes, "%" PRIu64 " ",
@@ -557,10 +560,15 @@ inline void CommunicationManager::Send_Mavlink_Message_Callback(
 				converted_bytes = sprintf(
 						temporary_buffer, "%" PRIu64 " ",
 						(uint64_t)header);
+	
 					
 			}
 		}
-	
+                if(total==1){
+		std::cout << "Single frame" << std::endl;
+		Generate_Transmit_Request_Frame(temporary_buffer, &frame);
+				serial_device_.Send_Frame(frame);
+		}
 	//}
 }