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MAVLink: Fix initial broadcast mode. This helps to find the GCS

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This commit is contained in:
Lorenz Meier
2015-10-09 10:43:04 +02:00
parent 251dfa49eb
commit a33568cd49
1 changed files with 14 additions and 4 deletions
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src/modules/mavlink/mavlink_main.cpp
+14 -4
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@@ -896,7 +896,11 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
(tstatus.heartbeat_time == 0)) && (tstatus.heartbeat_time == 0)) &&
msgid == MAVLINK_MSG_ID_HEARTBEAT) { msgid == MAVLINK_MSG_ID_HEARTBEAT) {
(void)sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr)); int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
if (bret) {
PX4_WARN("sending broadcast failed");
}
} }
} else if (get_protocol() == TCP) { } else if (get_protocol() == TCP) {
@@ -974,7 +978,7 @@ void
Mavlink::init_udp() Mavlink::init_udp()
{ {
#if defined (__PX4_LINUX) || defined (__PX4_DARWIN) #if defined (__PX4_LINUX) || defined (__PX4_DARWIN)
PX4_INFO("Setting up UDP w/port %d\n",_network_port); PX4_INFO("Setting up UDP w/port %d",_network_port);
memset((char *)&_myaddr, 0, sizeof(_myaddr)); memset((char *)&_myaddr, 0, sizeof(_myaddr));
_myaddr.sin_family = AF_INET; _myaddr.sin_family = AF_INET;
@@ -982,12 +986,18 @@ Mavlink::init_udp()
_myaddr.sin_port = htons(_network_port); _myaddr.sin_port = htons(_network_port);
if ((_socket_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) { if ((_socket_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
PX4_WARN("create socket failed\n"); PX4_WARN("create socket failed");
return;
}
int broadcast_opt = 1;
if (setsockopt(_socket_fd, SOL_SOCKET, SO_BROADCAST, &broadcast_opt, sizeof(broadcast_opt)) < 0) {
PX4_WARN("setting broadcast permission failed");
return; return;
} }
if (bind(_socket_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) { if (bind(_socket_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) {
PX4_WARN("bind failed\n"); PX4_WARN("bind failed");
return; return;
} }