diff options
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 37 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 12 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 4 |
3 files changed, 40 insertions, 13 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 1ed3f4001..b9e0663b7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -167,12 +167,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length int buf_free = 0; if (instance->get_flow_control_enabled() - && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { if (buf_free == 0) { if (last_write_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { warnx("DISABLING HARDWARE FLOW CONTROL"); instance->enable_flow_control(false); @@ -186,12 +186,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length } } - 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 + /* 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); + if (ret != desired) { + // XXX do something here, but change to using FIONWRITE and OS buf size for detection + } } + + } static void usage(void); @@ -204,6 +209,8 @@ Mavlink::Mavlink() : _task_running(false), _hil_enabled(false), _is_usb_uart(false), + _wait_to_transmit(false), + _received_messages(false), _main_loop_delay(1000), _subscriptions(nullptr), _streams(nullptr), @@ -1768,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[]) * set error flag instead */ bool err_flag = false; - while ((ch = getopt(argc, argv, "b:r:d:m:fpv")) != EOF) { + while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) { switch (ch) { case 'b': _baudrate = strtoul(optarg, NULL, 10); @@ -1820,6 +1827,10 @@ Mavlink::task_main(int argc, char *argv[]) _verbose = true; break; + case 'w': + _wait_to_transmit = true; + break; + default: err_flag = true; break; @@ -2164,11 +2175,11 @@ Mavlink::start(int argc, char *argv[]) // task - start_helper() only returns // when the started task exits. task_spawn_cmd(buf, - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT, - 2048, - (main_t)&Mavlink::start_helper, - (const char **)argv); + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 2048, + (main_t)&Mavlink::start_helper, + (const char **)argv); // Ensure that this shell command // does not return before the instance @@ -2264,7 +2275,7 @@ Mavlink::stream(int argc, char *argv[]) static void usage() { - warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v]"); + warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]"); } int mavlink_main(int argc, char *argv[]) diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 9941a5f99..2c1826139 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -202,6 +202,14 @@ public: int get_mavlink_fd() { return _mavlink_fd; } + + /* Functions for waiting to start transmission until message received. */ + void set_has_received_messages(bool received_messages) { _received_messages = received_messages; } + bool get_has_received_messages() { return _received_messages; } + void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; } + bool get_wait_to_transmit() { return _wait_to_transmit; } + bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } + protected: Mavlink *next; @@ -216,6 +224,8 @@ private: /* states */ bool _hil_enabled; /**< Hardware In the Loop mode */ bool _is_usb_uart; /**< Port is USB */ + bool _wait_to_transmit; /**< Wait to transmit until received messages. */ + bool _received_messages; /**< Whether we've received valid mavlink messages. */ unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */ @@ -270,6 +280,8 @@ private: pthread_mutex_t _message_buffer_mutex; + + /** * Send one parameter. * diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index c66350f5b..61ef2b043 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -181,6 +181,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) break; } } + + /* If we've received a valid message, mark the flag indicating so. + This is used in the '-w' command-line flag. */ + _mavlink->set_has_received_messages(true); } void |