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GCS_MAVLink: save some memory in log download

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use an existing buffer instead of using the mavlink _send()
function. This saves some stack space in log download

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2014-03-18 13:51:31 +11:00 committed by Randy Mackay
parent de119e07bb
commit ce29bbe394
1 changed files with 10 additions and 4 deletions
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14
libraries/GCS_MAVLink/GCS_Logs.cpp
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@ -209,20 +209,26 @@ bool GCS_MAVLINK::handle_log_send_data(DataFlash_Class &dataflash)
int16_t ret = 0;
uint32_t len = _log_data_remaining;
uint8_t data[90];
mavlink_log_data_t packet;
if (len > 90) {
len = 90;
}
ret = dataflash.get_log_data(_log_num_data, _log_data_page, _log_data_offset, len, data);
ret = dataflash.get_log_data(_log_num_data, _log_data_page, _log_data_offset, len, packet.data);
if (ret < 0) {
// report as EOF on error
ret = 0;
}
if (ret < 90) {
memset(&data[ret], 0, 90-ret);
memset(&packet.data[ret], 0, 90-ret);
}
mavlink_msg_log_data_send(chan, _log_num_data, _log_data_offset, ret, data);
packet.ofs = _log_data_offset;
packet.id = _log_num_data;
packet.count = ret;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet,
MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
_log_data_offset += len;
_log_data_remaining -= len;
if (ret < 90 || _log_data_remaining == 0) {