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| author | Julian Oes <julian@oes.ch> | 2014-06-19 14:14:24 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-19 14:14:24 +0200 |
| commit | e0c78e51e3a5768014c73bed5cd087830d602227 (patch) | |
| tree | f7cee2abbf7289cc17c9967d3f286958126e9cf8 /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 5bab3b1bac4b4e1d154532e8c249cee54ef32882 (diff) | |
| download | px4-firmware-e0c78e51e3a5768014c73bed5cd087830d602227.tar.gz px4-firmware-e0c78e51e3a5768014c73bed5cd087830d602227.tar.bz2 px4-firmware-e0c78e51e3a5768014c73bed5cd087830d602227.zip | |
mavlink: only publish telemetry status from GCS
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7a6922bfa..baa6571a8 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -470,23 +470,23 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg) /* ignore own heartbeats, accept only heartbeats from GCS */ if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) { _telemetry_heartbeat_time = hrt_absolute_time(); - } - /* if no radio status messages arrive, lets at least publish that heartbeats were received */ - if (!_radio_status_available) { + /* if no radio status messages arrive, lets at least publish that heartbeats were received */ + if (!_radio_status_available) { - struct telemetry_status_s tstatus; - memset(&tstatus, 0, sizeof(tstatus)); + struct telemetry_status_s tstatus; + memset(&tstatus, 0, sizeof(tstatus)); - tstatus.timestamp = _telemetry_heartbeat_time; - tstatus.heartbeat_time = _telemetry_heartbeat_time; - tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; + tstatus.timestamp = _telemetry_heartbeat_time; + tstatus.heartbeat_time = _telemetry_heartbeat_time; + tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC; - if (_telemetry_status_pub < 0) { - _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); + if (_telemetry_status_pub < 0) { + _telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); - } else { - orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } else { + orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus); + } } } } |