From 6672be040ae51a17546927d25a26127f2ec4c1da Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 4 Feb 2021 08:03:47 +0100 Subject: [PATCH] mavlink: limit mavlink channels based on memory --- src/modules/mavlink/mavlink_bridge_header.h | 2 +- src/modules/mavlink/mavlink_main.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h index a3774dbb06..abd7586750 100644 --- a/src/modules/mavlink/mavlink_bridge_header.h +++ b/src/modules/mavlink/mavlink_bridge_header.h @@ -55,7 +55,7 @@ #define MAVLINK_GET_CHANNEL_BUFFER mavlink_get_channel_buffer #define MAVLINK_GET_CHANNEL_STATUS mavlink_get_channel_status -#if defined(__PX4_POSIX) +#if !defined(CONSTRAINED_MEMORY) #define MAVLINK_COMM_NUM_BUFFERS 6 #define MAVLINK_COMM_4 static_cast(4) #define MAVLINK_COMM_5 static_cast(5) diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 586b24565a..6e12c3ab77 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -543,7 +543,7 @@ private: bool _task_running{true}; static bool _boot_complete; - static constexpr int MAVLINK_MAX_INSTANCES{6}; + static constexpr int MAVLINK_MAX_INSTANCES{MAVLINK_COMM_NUM_BUFFERS}; static constexpr int MAVLINK_MIN_INTERVAL{1500}; static constexpr int MAVLINK_MAX_INTERVAL{10000}; static constexpr float MAVLINK_MIN_MULTIPLIER{0.0005f};