diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -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 3e44102fb..199e85305 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"); } } |