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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 09:36:12 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 09:36:12 +0100 |
| commit | 023c7069c4a340aa1b7c9f05963a066cee368b2a (patch) | |
| tree | 6ea3ab6d0e08017a40b82b752428ac7bedec7c16 /src/modules/mavlink/mavlink_main.cpp | |
| parent | f66b0ad8ac926a79608cf872c8e49ea7ace92288 (diff) | |
| download | px4-firmware-023c7069c4a340aa1b7c9f05963a066cee368b2a.tar.gz px4-firmware-023c7069c4a340aa1b7c9f05963a066cee368b2a.tar.bz2 px4-firmware-023c7069c4a340aa1b7c9f05963a066cee368b2a.zip | |
Fix FIONWRITE usage
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 18 |
1 files changed, 11 insertions, 7 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index ed3b265f9..9a6e1130e 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -158,13 +158,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length */ int buf_free = 0; - if (ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) { - struct termios uart_config; - (void)tcgetattr(uart, &uart_config); - uart_config.c_cflag &= ~CRTSCTS; - (void)tcsetattr(uart, TCSANOW, &uart_config); - warnx("DISABLING HARDWARE FLOW CONTROL"); + if (ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + + if (buf_free == 0 && last_write_times[(unsigned)channel] != 0 && + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) { + + struct termios uart_config; + (void)tcgetattr(uart, &uart_config); + uart_config.c_cflag &= ~CRTSCTS; + (void)tcsetattr(uart, TCSANOW, &uart_config); + warnx("DISABLING HARDWARE FLOW CONTROL"); + } } ssize_t ret = write(uart, ch, desired); |