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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 21:04:35 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 21:04:35 +0200 |
| commit | 9cc284742e4dfd360528cf78bb11fed6619f302b (patch) | |
| tree | c5630e28d3165842ec1649da038ec1a6731d2a61 /src/modules | |
| parent | 200bd8e3dd2f67d45d9ef83d8b9f54e159b7eb57 (diff) | |
| parent | 906abbcbb6215e9ae30c51efe3b813a71a963615 (diff) | |
| download | px4-firmware-9cc284742e4dfd360528cf78bb11fed6619f302b.tar.gz px4-firmware-9cc284742e4dfd360528cf78bb11fed6619f302b.tar.bz2 px4-firmware-9cc284742e4dfd360528cf78bb11fed6619f302b.zip | |
Merge branch 'usb_buf_hotfix' into ekf_params
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index a9f5f4de7..2d71bdce6 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -189,9 +189,18 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length /* If the wait until transmit flag is on, only transmit after we've received messages. Otherwise, transmit all the time. */ if (instance->should_transmit()) { - ssize_t ret = write(uart, ch, desired); + + /* check if there is space in the buffer, let it overflow else */ + if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) { + + if (desired > buf_free) { + desired = buf_free; + } + } + + ssize_t ret = write(uart, ch, desired); if (ret != desired) { - // XXX do something here, but change to using FIONWRITE and OS buf size for detection + warnx("TX FAIL"); } } |