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mavlink_main: do not use message_buffer if _ftp_on

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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.
This commit is contained in:
Beat Küng
2017-08-24 19:03:58 +02:00
parent ca24c8e2b6
commit 12f1c342d0
1 changed files with 5 additions and 5 deletions
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src/modules/mavlink/mavlink_main.cpp
+5 -5
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@@ -1971,8 +1971,8 @@ Mavlink::task_main(int argc, char *argv[])
pthread_mutex_init(&_send_mutex, nullptr); pthread_mutex_init(&_send_mutex, nullptr);
/* if we are passing on mavlink messages, we need to prepare a buffer for this instance */ /* if we are passing on mavlink messages, we need to prepare a buffer for this instance */
if (_forwarding_on || _ftp_on) { if (_forwarding_on) {
/* initialize message buffer if multiplexing is on or its needed for FTP. /* initialize message buffer if multiplexing is on.
* make space for two messages plus off-by-one space as we use the empty element * make space for two messages plus off-by-one space as we use the empty element
* marker ring buffer approach. * marker ring buffer approach.
*/ */
@@ -2301,8 +2301,8 @@ Mavlink::task_main(int argc, char *argv[])
stream->update(t); stream->update(t);
} }
/* pass messages from other UARTs or FTP worker */ /* pass messages from other UARTs */
if (_forwarding_on || _ftp_on) { if (_forwarding_on) {
bool is_part; bool is_part;
uint8_t *read_ptr; uint8_t *read_ptr;
@@ -2410,7 +2410,7 @@ Mavlink::task_main(int argc, char *argv[])
_socket_fd = -1; _socket_fd = -1;
} }
if (_forwarding_on || _ftp_on) { if (_forwarding_on) {
message_buffer_destroy(); message_buffer_destroy();
pthread_mutex_destroy(&_message_buffer_mutex); pthread_mutex_destroy(&_message_buffer_mutex);
} }