fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-16 03:40:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: don't send events over Iridium

Browse Source
This commit is contained in:
Igor Mišić
2022-06-07 18:47:49 +02:00
committed by Beat Küng
parent 208909d471
commit 29af189cd0
1 changed files with 15 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_events.cpp
+15 -13
View File
@@ -208,17 +208,18 @@ void SendProtocol::handle_request_event(const mavlink_message_t &msg) const
void SendProtocol::send_event(const Event &event) const
{
mavlink_event_t event_msg{};
event_msg.event_time_boot_ms = event.timestamp_ms;
event_msg.destination_component = MAV_COMP_ID_ALL;
event_msg.destination_system = 0;
event_msg.id = event.id;
event_msg.sequence = event.sequence;
event_msg.log_levels = event.log_levels;
static_assert(sizeof(event_msg.arguments) >= sizeof(event.arguments), "MAVLink message arguments buffer too small");
memcpy(&event_msg.arguments, event.arguments, sizeof(event.arguments));
mavlink_msg_event_send_struct(_mavlink.get_channel(), &event_msg);
if (_mavlink.get_mode() != Mavlink::MAVLINK_MODE_IRIDIUM) {
mavlink_event_t event_msg{};
event_msg.event_time_boot_ms = event.timestamp_ms;
event_msg.destination_component = MAV_COMP_ID_ALL;
event_msg.destination_system = 0;
event_msg.id = event.id;
event_msg.sequence = event.sequence;
event_msg.log_levels = event.log_levels;
static_assert(sizeof(event_msg.arguments) >= sizeof(event.arguments), "MAVLink message arguments buffer too small");
memcpy(&event_msg.arguments, event.arguments, sizeof(event.arguments));
mavlink_msg_event_send_struct(_mavlink.get_channel(), &event_msg);
}
}
void SendProtocol::on_gcs_connected()
@@ -228,8 +229,9 @@ void SendProtocol::on_gcs_connected()
void SendProtocol::send_current_sequence(const hrt_abstime &now, bool force_reset)
{
// only send if enough tx buffer space available
if (_mavlink.get_free_tx_buf() < MAVLINK_MSG_ID_CURRENT_EVENT_SEQUENCE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
// only send if enough tx buffer space available or not MAVLINK_MODE_IRIDIUM
if (_mavlink.get_free_tx_buf() < MAVLINK_MSG_ID_CURRENT_EVENT_SEQUENCE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES ||
_mavlink.get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
return;
}