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author | Julian Oes <julian@oes.ch> | 2014-06-27 14:41:19 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-06-27 14:41:19 +0200 |
commit | b8d07532a7047ef4a226607b85626c38fabd0093 (patch) | |
tree | 28f9e6740207d5dd841c0ab56da654bac86e1dbc /src/modules/mavlink/mavlink_messages.cpp | |
parent | dbd99b649442bbb2568ca309c5da61337d1e4b68 (diff) | |
parent | cc8f7f4c97de923f60f9469aa2847e6e1474d52d (diff) | |
download | px4-firmware-b8d07532a7047ef4a226607b85626c38fabd0093.tar.gz px4-firmware-b8d07532a7047ef4a226607b85626c38fabd0093.tar.bz2 px4-firmware-b8d07532a7047ef4a226607b85626c38fabd0093.zip |
Merge branch 'navigator_rewrite' into navigator_rewrite_estimator
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 28 |
1 files changed, 15 insertions, 13 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 74089f780..2458dd23a 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -258,19 +258,21 @@ protected: struct vehicle_status_s status; struct position_setpoint_triplet_s pos_sp_triplet; - if (status_sub->update(&status) && pos_sp_triplet_sub->update(&pos_sp_triplet)) { - uint8_t mavlink_state = 0; - uint8_t mavlink_base_mode = 0; - uint32_t mavlink_custom_mode = 0; - get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); - - mavlink_msg_heartbeat_send(_channel, - mavlink_system.type, - MAV_AUTOPILOT_PX4, - mavlink_base_mode, - mavlink_custom_mode, - mavlink_state); - } + /* always send the heartbeat, independent of the update status of the topics */ + (void)status_sub->update(&status); + (void)pos_sp_triplet_sub->update(&pos_sp_triplet); + + uint8_t mavlink_state = 0; + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + mavlink_msg_heartbeat_send(_channel, + mavlink_system.type, + MAV_AUTOPILOT_PX4, + mavlink_base_mode, + mavlink_custom_mode, + mavlink_state); } }; |