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MAVLink: Send for the first 4 seconds to localhost on UDP to not interfere with the network

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Lorenz Meier
2016-01-20 11:53:44 +01:00
parent 883148d3d1
commit 619548b10a
2 changed files with 7 additions and 0 deletions
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6
src/modules/mavlink/mavlink_main.cpp
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@@ -169,6 +169,7 @@ Mavlink::Mavlink() :
_flow_control_enabled(true),
_last_write_success_time(0),
_last_write_try_time(0),
_mavlink_start_time(0),
_bytes_tx(0),
_bytes_txerr(0),
_bytes_rx(0),
@@ -886,6 +887,10 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
_last_write_try_time = hrt_absolute_time();
if (_mavlink_start_time == 0) {
_mavlink_start_time = _last_write_try_time;
}
if (get_protocol() == SERIAL) {
/* check if there is space in the buffer, let it overflow else */
unsigned buf_free = get_free_tx_buf();
@@ -938,6 +943,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
/* resend heartbeat via broadcast */
if ((_mode != MAVLINK_MODE_ONBOARD)
&& (_mavlink_start_time > 0 && (hrt_elapsed_time(&_mavlink_start_time) > 4 * 1000 * 1000))
&& (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
(tstatus.heartbeat_time == 0)) &&
msgid == MAVLINK_MSG_ID_HEARTBEAT)) {