diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 37 |
1 files changed, 24 insertions, 13 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 2dba567b0..10d781a56 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), @@ -1776,7 +1783,7 @@ 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); @@ -1828,6 +1835,10 @@ Mavlink::task_main(int argc, char *argv[]) _verbose = true; break; + case 'w': + _wait_to_transmit = true; + break; + default: err_flag = true; break; @@ -2172,11 +2183,11 @@ 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 @@ -2272,7 +2283,7 @@ 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[]) |