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Merge branch 'usb_buf_hotfix' into ekf_params

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Lorenz Meier 2014-04-20 21:04:35 +02:00
commit 9cc284742e
1 changed files with 11 additions and 2 deletions
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13
src/modules/mavlink/mavlink_main.cpp
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@ -189,9 +189,18 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
/* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */
if (instance->should_transmit()) {
ssize_t ret = write(uart, ch, desired);
/* check if there is space in the buffer, let it overflow else */
if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) {
if (desired > buf_free) {
desired = buf_free;
}
}
ssize_t ret = write(uart, ch, desired);
if (ret != desired) {
// XXX do something here, but change to using FIONWRITE and OS buf size for detection
warnx("TX FAIL");
}
}