From 8ded6a58abbf46cfc52018e30f764df6e58aa8ac Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 12 Jul 2016 13:50:54 +0200 Subject: [PATCH] mavlink_log: enable queueing We don't want to drop messages if possible for mavlink log messages, so let's use the orb queueing. --- src/modules/systemlib/mavlink_log.c | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/systemlib/mavlink_log.c b/src/modules/systemlib/mavlink_log.c index 311e7d8c91..33d463f502 100644 --- a/src/modules/systemlib/mavlink_log.c +++ b/src/modules/systemlib/mavlink_log.c @@ -47,6 +47,7 @@ #include #include "mavlink_log.h" +#define MAVLINK_LOG_QUEUE_SIZE 5 __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...) @@ -79,7 +80,9 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg); } else { - *mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg); + *mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), + &log_msg, + MAVLINK_LOG_QUEUE_SIZE); } }