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mavlink: STATUSTEXT track missed mavlink_log messages

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Daniel Agar
2020-11-17 19:47:06 -05:00
parent e1168070d1
commit 7baeb78964
1 changed files with 7 additions and 0 deletions
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src/modules/mavlink/streams/STATUSTEXT.hpp
+7
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@@ -57,14 +57,21 @@ private:
uORB::Subscription _mavlink_log_sub{ORB_ID(mavlink_log)}; uORB::Subscription _mavlink_log_sub{ORB_ID(mavlink_log)};
uint16_t _id{0}; uint16_t _id{0};
uint16_t _missed_msg_count{0};
bool send() override bool send() override
{ {
if (_mavlink->is_connected() && (_mavlink->get_free_tx_buf() >= get_size())) { if (_mavlink->is_connected() && (_mavlink->get_free_tx_buf() >= get_size())) {
const unsigned last_generation = _mavlink_log_sub.get_last_generation();
mavlink_log_s mavlink_log; mavlink_log_s mavlink_log;
if (_mavlink_log_sub.update(&mavlink_log)) { if (_mavlink_log_sub.update(&mavlink_log)) {
if (_mavlink_log_sub.get_last_generation() != (last_generation + 1)) {
_missed_msg_count++;
PX4_ERR("channel %d has missed %d mavlink log messages", _mavlink->get_channel(), _missed_msg_count);
}
mavlink_statustext_t msg{}; mavlink_statustext_t msg{};
const char *text = mavlink_log.text; const char *text = mavlink_log.text;