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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-07 17:17:56 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-07 17:17:56 +0400 |
| commit | de3efc0975f1b84cf556bae11bbebe95609dbcdc (patch) | |
| tree | 0fd1db60cd7aef267d5c953bf6d7036932fbaa35 /src/modules | |
| parent | 7397e05b70719d0a92209346319d69b7f6d840d5 (diff) | |
| download | px4-firmware-de3efc0975f1b84cf556bae11bbebe95609dbcdc.tar.gz px4-firmware-de3efc0975f1b84cf556bae11bbebe95609dbcdc.tar.bz2 px4-firmware-de3efc0975f1b84cf556bae11bbebe95609dbcdc.zip | |
mavlink: publish SYS_STATUS at constant rate, don't look at update() result
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 31 |
1 files changed, 15 insertions, 16 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 4ca3840d4..c89031fcc 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -262,22 +262,21 @@ protected: void send(const hrt_abstime t) { - if (status_sub->update(t)) { - mavlink_msg_sys_status_send(_channel, - status->onboard_control_sensors_present, - status->onboard_control_sensors_enabled, - status->onboard_control_sensors_health, - status->load * 1000.0f, - status->battery_voltage * 1000.0f, - status->battery_current * 1000.0f, - status->battery_remaining, - status->drop_rate_comm, - status->errors_comm, - status->errors_count1, - status->errors_count2, - status->errors_count3, - status->errors_count4); - } + status_sub->update(t); + mavlink_msg_sys_status_send(_channel, + status->onboard_control_sensors_present, + status->onboard_control_sensors_enabled, + status->onboard_control_sensors_health, + status->load * 1000.0f, + status->battery_voltage * 1000.0f, + status->battery_current * 1000.0f, + status->battery_remaining, + status->drop_rate_comm, + status->errors_comm, + status->errors_count1, + status->errors_count2, + status->errors_count3, + status->errors_count4); } }; |