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Don't sleep in middle of mavlink message reception

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Julian Kent
2019-12-19 15:14:12 +01:00
committed by Daniel Agar
parent a9ca16cafe
commit e4a526e3b2
1 changed files with 1 additions and 11 deletions
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12
src/modules/mavlink/mavlink_receiver.cpp
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@@ -2717,18 +2717,8 @@ MavlinkReceiver::Run()
if (poll(&fds[0], 1, timeout) > 0) {
if (_mavlink->get_protocol() == Protocol::SERIAL) {
/*
* to avoid reading very small chunks wait for data before reading
* this is designed to target one message, so >20 bytes at a time
*/
const unsigned character_count = 20;
/* non-blocking read. read may return negative values */
if ((nread = ::read(fds[0].fd, buf, sizeof(buf))) < (ssize_t)character_count) {
const unsigned sleeptime = character_count * 1000000 / (_mavlink->get_baudrate() / 10);
px4_usleep(sleeptime);
}
nread = ::read(fds[0].fd, buf, sizeof(buf));
}
#if defined(MAVLINK_UDP)