yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: keep trying to find to broadcast

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

17
src/modules/mavlink/mavlink_main.cpp
View File

@@ -885,13 +885,20 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
if ((_mode != MAVLINK_MODE_ONBOARD) && if ((_mode != MAVLINK_MODE_ONBOARD) &&
(!get_client_source_initialized() (!get_client_source_initialized()
|| (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000)) || (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000))
&& (msgid == MAVLINK_MSG_ID_HEARTBEAT) && (msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
&& _broadcast_address_found) {
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) { if (_broadcast_address_found) {
PX4_WARN("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
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));
}
} }
} }