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mavlink_receiver: disable ulog streaming via Telemetry links 

Telemetry links don't have enough bandwidth for that feature. The vehicle
will return a NACK when trying to enable log streaming on such a link.
This commit is contained in:
Beat Küng 2017-10-31 10:30:58 +01:00 committed by Lorenz Meier
parent 8f7a5d0e0c
commit a2db639289
1 changed files with 21 additions and 9 deletions
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30
src/modules/mavlink/mavlink_receiver.cpp
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@ -547,21 +547,33 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
}
if (cmd_mavlink.command == MAV_CMD_LOGGING_START) {
// we already instanciate the streaming object, because at this point we know on which
// mavlink channel streaming was requested. But in fact it's possible that the logger is
// not even running. The main mavlink thread takes care of this by waiting for an ack
// from the logger.
_mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
// check that we have enough bandwidth available: this is given by the configured logger topics
// and rates. The 5000 is somewhat arbitrary, but makes sure that we cannot enable log streaming
// on a radio link
if (_mavlink->get_data_rate() < 5000) {
send_ack = true;
ret = PX4_ERROR;
_mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming");
} else {
// we already instanciate the streaming object, because at this point we know on which
// mavlink channel streaming was requested. But in fact it's possible that the logger is
// not even running. The main mavlink thread takes care of this by waiting for an ack
// from the logger.
_mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
}
} else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
_mavlink->request_stop_ulog_streaming();
}
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command, vehicle_command_s::ORB_QUEUE_LENGTH);
if (!send_ack) {
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vehicle_command);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vehicle_command);
}
}
}