From 0d72b47571f23d33ab7ab18cdabe5e56afc55150 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 27 Dec 2020 19:13:16 -0500
Subject: [PATCH] mavlink: COLLISION stream check free tx buf before send

---
 src/modules/mavlink/streams/COLLISION.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/mavlink/streams/COLLISION.hpp b/src/modules/mavlink/streams/COLLISION.hpp
index b7abb34eec..455ac683fa 100644
--- a/src/modules/mavlink/streams/COLLISION.hpp
+++ b/src/modules/mavlink/streams/COLLISION.hpp
@@ -85,7 +85,7 @@ protected:
 		collision_report_s report;
 		bool sent = false;
 
-		while (_collision_sub.update(&report)) {
+		while ((_mavlink->get_free_tx_buf() >= get_size()) && _collision_sub.update(&report)) {
 			mavlink_collision_t msg = {};
 
 			msg.src = report.src;