From 12f1c342d04f70ad94ea508c297b25038e5f3b3f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 24 Aug 2017 10:18:24 +0200 Subject: [PATCH] mavlink_main: do not use message_buffer if _ftp_on if _ftp_on is true, message_buffer was created and read, but it was actually never written to, so this is not needed. It can only ever be written to if _forwarding_on is true. --- src/modules/mavlink/mavlink_main.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index bbf5c5284c..889da7f77c 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1971,8 +1971,8 @@ Mavlink::task_main(int argc, char *argv[]) pthread_mutex_init(&_send_mutex, nullptr); /* if we are passing on mavlink messages, we need to prepare a buffer for this instance */ - if (_forwarding_on || _ftp_on) { - /* initialize message buffer if multiplexing is on or its needed for FTP. + if (_forwarding_on) { + /* initialize message buffer if multiplexing is on. * make space for two messages plus off-by-one space as we use the empty element * marker ring buffer approach. */ @@ -2301,8 +2301,8 @@ Mavlink::task_main(int argc, char *argv[]) stream->update(t); } - /* pass messages from other UARTs or FTP worker */ - if (_forwarding_on || _ftp_on) { + /* pass messages from other UARTs */ + if (_forwarding_on) { bool is_part; uint8_t *read_ptr; @@ -2410,7 +2410,7 @@ Mavlink::task_main(int argc, char *argv[]) _socket_fd = -1; } - if (_forwarding_on || _ftp_on) { + if (_forwarding_on) { message_buffer_destroy(); pthread_mutex_destroy(&_message_buffer_mutex); }