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mavlink: keep trying to find to broadcast

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This should help the Snapdragon to connect if the network is not yet up
by the time the mainapp starts. It will retry to find a network and
broadcast once it finds one.
This commit is contained in:
Julian Oes
2016-04-08 16:35:19 +02:00
committed by Lorenz Meier
parent 0ddf720759
commit 727783fe94
1 changed files with 12 additions and 5 deletions
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17
src/modules/mavlink/mavlink_main.cpp
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@@ -885,13 +885,20 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
if ((_mode != MAVLINK_MODE_ONBOARD) &&
(!get_client_source_initialized()
|| (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000))
&& (msgid == MAVLINK_MSG_ID_HEARTBEAT)
&& _broadcast_address_found) {
&& (msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
if (!_broadcast_address_found) {
// Try to initialize UDP and broadcast address again.
init_udp();
}
if (bret <= 0) {
PX4_WARN("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
if (_broadcast_address_found) {
int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
if (bret <= 0) {
PX4_WARN("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
}
}
}