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do not run mavlink receiver before app is fully booted when using sockets

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This commit is contained in:
tumbili
2015-09-02 10:25:10 +02:00
parent b1850a316b
commit 95af5fc3d0
2 changed files with 12 additions and 6 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+7 -1
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@@ -1761,10 +1761,17 @@ MavlinkReceiver::receive_thread(void *arg)
#ifdef __PX4_POSIX
struct sockaddr_in srcaddr;
socklen_t addrlen = sizeof(srcaddr);
if (_mavlink->get_protocol() == UDP || _mavlink->get_protocol() == TCP) {
// make sure mavlink app has booted before we start using the socket
while (!_mavlink->boot_complete()) {
usleep(100000);
}
fds[0].fd = _mavlink->get_socket_fd();
fds[0].events = POLLIN;
}
#endif
ssize_t nread = 0;
@@ -1779,7 +1786,6 @@ MavlinkReceiver::receive_thread(void *arg)
}
#ifdef __PX4_POSIX
if (_mavlink->get_protocol() == UDP) {
if (fds[0].revents & POLLIN) {
nread = recvfrom(_mavlink->get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen);
}