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consume all available queued vehicle_commands

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This commit is contained in:
Daniel Agar
2021-01-26 12:00:18 -05:00
parent d5c7e243a9
commit d1dfa26903
11 changed files with 167 additions and 175 deletions
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src/modules/mavlink/mavlink_messages.cpp
+18 -9
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@@ -506,7 +506,7 @@ public:
}
private:
uORB::Subscription _cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
/* do not allow top copying this class */
MavlinkStreamCommandLong(MavlinkStreamCommandLong &) = delete;
@@ -518,19 +518,28 @@ protected:
bool send() override
{
struct vehicle_command_s cmd;
bool sent = false;
if (_cmd_sub.update(&cmd)) {
while ((_mavlink->get_free_tx_buf() >= get_size()) && _vehicle_command_sub.updated()) {
if (!cmd.from_external) {
PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
const unsigned last_generation = _vehicle_command_sub.get_last_generation();
vehicle_command_s cmd;
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
sent = true;
if (_vehicle_command_sub.update(&cmd)) {
if (_vehicle_command_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("COMMAND_LONG vehicle_command lost, generation %d -> %d", last_generation,
_vehicle_command_sub.get_last_generation());
}
} else {
PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
if (!cmd.from_external) {
PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
sent = true;
} else {
PX4_DEBUG("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
}
}
}