From 6ea3c6a7d24f637885d5d9a468dc922992ecff25 Mon Sep 17 00:00:00 2001 From: Oleg Date: Thu, 11 Aug 2022 12:40:44 +0300 Subject: [PATCH] mavlink_ftp: fix to correctly trim reply messages Clear any not used payload data to correctly trim mavlink ftp message reply to avoid sending long ACK and NACK messages. --- src/modules/mavlink/mavlink_ftp.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index 5e62c0ee9e..37108d58bc 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -331,6 +331,9 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req) memcpy(_last_reply, ftp_req, sizeof(_last_reply)); } + // clear any not used payload data to correctly trim mavlink ftp message reply + memset(&payload->data[payload->size], 0, kMaxDataLength - payload->size); + PX4_DEBUG("FTP: %s seq_number: %" PRIu16, payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number); #ifdef MAVLINK_FTP_UNIT_TEST