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mavlink app: Only stop sending if really no more space is available.

This commit is contained in:
Lorenz Meier 2015-02-10 14:37:09 +01:00
parent b269e5d060
commit 9183949a1e
1 changed files with 7 additions and 8 deletions
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15
src/modules/mavlink/mavlink_main.cpp
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@ -89,11 +89,10 @@
#endif
static const int ERROR = -1;
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 20000 // max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate
#define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 20000 ///< max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate
#define FLOW_CONTROL_DISABLE_THRESHOLD 40 ///< picked so that some messages still would fit it.
static Mavlink *_mavlink_instances = nullptr;
@ -730,7 +729,7 @@ Mavlink::get_free_tx_buf()
int buf_free = 0;
(void) ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free);
if (get_flow_control_enabled() && buf_free < TX_BUFFER_GAP) {
if (get_flow_control_enabled() && buf_free < FLOW_CONTROL_DISABLE_THRESHOLD) {
/* Disable hardware flow control:
* if no successful write since a defined time
* and if the last try was not the last successful write
@ -765,7 +764,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
_last_write_try_time = hrt_absolute_time();
/* check if there is space in the buffer, let it overflow else */
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
if (buf_free < packet_len) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
@ -829,7 +828,7 @@ Mavlink::resend_message(mavlink_message_t *msg)
unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
/* check if there is space in the buffer, let it overflow else */
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
if (buf_free < packet_len) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);