diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 6bd0c7bce..79a35f1e7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -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); |