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| author | Julian Oes <julian@oes.ch> | 2014-06-10 14:29:17 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-10 14:29:17 +0200 |
| commit | d5c0933d6516741f432a8f259149384fa2a2f95b (patch) | |
| tree | 931dca00c7e13c6423e717d7b4d88fb4a826194b /src | |
| parent | 92766a8626fdf143e46159d9a7e367ade6ae4376 (diff) | |
| download | px4-firmware-d5c0933d6516741f432a8f259149384fa2a2f95b.tar.gz px4-firmware-d5c0933d6516741f432a8f259149384fa2a2f95b.tar.bz2 px4-firmware-d5c0933d6516741f432a8f259149384fa2a2f95b.zip | |
mavlink: report global position setpoint and do this always no just when updated, otherwise the values are not visible in QGC
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 14 |
1 files changed, 6 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index fd41b723a..c44bdc53d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -938,14 +938,12 @@ protected: void send(const hrt_abstime t) { - if (pos_sp_triplet_sub->update(t)) { - mavlink_msg_global_position_setpoint_int_send(_channel, - MAV_FRAME_GLOBAL, - (int32_t)(pos_sp_triplet->current.lat * 1e7), - (int32_t)(pos_sp_triplet->current.lon * 1e7), - (int32_t)(pos_sp_triplet->current.alt * 1000), - (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); - } + mavlink_msg_global_position_setpoint_int_send(_channel, + MAV_FRAME_GLOBAL, + (int32_t)(pos_sp_triplet->current.lat * 1e7), + (int32_t)(pos_sp_triplet->current.lon * 1e7), + (int32_t)(pos_sp_triplet->current.alt * 1000), + (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); } }; |