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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-05 07:14:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-05 07:14:32 +0200 |
| commit | 2e1dae2a7f0e0798ddd5df3c1705553e69e248eb (patch) | |
| tree | dbbd1fe81b5d6c2f81b13fb30fa4d581ce23f5fa /src/modules/mavlink | |
| parent | ef7c57f1cece0e49cd95e7bbdc0d6563eca6a9eb (diff) | |
| parent | 896d8a3acd0ea91858c7a23b2dbce174f7da7fba (diff) | |
| download | px4-firmware-2e1dae2a7f0e0798ddd5df3c1705553e69e248eb.tar.gz px4-firmware-2e1dae2a7f0e0798ddd5df3c1705553e69e248eb.tar.bz2 px4-firmware-2e1dae2a7f0e0798ddd5df3c1705553e69e248eb.zip | |
Merge branch 'master' into mavlink-ftp
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..bef8a5a55 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -819,11 +819,11 @@ protected: void send(const hrt_abstime t) { - bool updated = status_sub->update(t); - updated |= pos_sp_triplet_sub->update(t); - updated |= act_sub->update(t); + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); - if (updated) { + if (updated && (status->arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; @@ -1353,7 +1353,7 @@ protected: uint8_t orientation = 0; uint8_t covariance = 20; - mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); } }; |