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AP_ADSB: check buffer space before sending

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This commit is contained in:
Tom Pittenger 2016-07-18 15:05:27 -07:00
parent 8b9057f23c
commit 8617880714
1 changed files with 9 additions and 8 deletions
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17
libraries/AP_ADSB/AP_ADSB.cpp
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@ -219,16 +219,17 @@ void AP_ADSB::update(void)
// haven't gotten a heartbeat health status packet in a while, assume hardware failure
out_state.chan = -1;
} else {
if (now - out_state.last_config_ms >= 5000) {
out_state.last_config_ms = now;
send_configure((mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan));
} // last_config_ms
mavlink_channel_t chan = (mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan);
if (now - out_state.last_config_ms >= 5000 && HAVE_PAYLOAD_SPACE(chan, ADSB_TRANSPONDER_STATIC_INPUT)) {
out_state.last_config_ms = now;
send_configure(chan);
} // last_config_ms
// send dynamic data to transceiver at 5Hz
if (now - out_state.last_report_ms >= 200) {
out_state.last_report_ms = now;
send_dynamic_out((mavlink_channel_t)(MAVLINK_COMM_0 + out_state.chan));
} // last_report_ms
if (now - out_state.last_report_ms >= 200 && HAVE_PAYLOAD_SPACE(chan, ADSB_TRANSPONDER_DYNAMIC_INPUT)) {
out_state.last_report_ms = now;
send_dynamic_out(chan);
} // last_report_ms
} // chan_last_ms
}
}