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mavlink_ulog: clear potential existing ulog_stream messages on start 

- the uorb behavior got recently changed so that we now need to clear
  any potential existing messages when we start log streaming.
- ulog_stream_ack should also not use a queue, since the ack is done
  synchonous between mavlink and the logger.
This commit is contained in:
Beat Küng 2018-08-08 13:52:00 +02:00
parent a936dc291e
commit 5f8c08db79
1 changed files with 10 additions and 1 deletions
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11
src/modules/mavlink/mavlink_ulog.cpp
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@ -60,6 +60,15 @@ MavlinkULog::MavlinkULog(int datarate, float max_rate_factor, uint8_t target_sys
if (_ulog_stream_sub < 0) {
PX4_ERR("orb_subscribe failed (%i)", errno);
} else {
// make sure we won't read any old messages
struct ulog_stream_s stream_msg;
bool update;
while (orb_check(_ulog_stream_sub, &update) == 0 && update) {
orb_copy(ORB_ID(ulog_stream), _ulog_stream_sub, &stream_msg);
}
}
_waiting_for_initial_ack = true;
@ -264,7 +273,7 @@ void MavlinkULog::publish_ack(uint16_t sequence)
ack.sequence = sequence;
if (_ulog_stream_ack_pub == nullptr) {
_ulog_stream_ack_pub = orb_advertise_queue(ORB_ID(ulog_stream_ack), &ack, 3);
_ulog_stream_ack_pub = orb_advertise(ORB_ID(ulog_stream_ack), &ack);
} else {
orb_publish(ORB_ID(ulog_stream_ack), _ulog_stream_ack_pub, &ack);