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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-07 06:25:43 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-07 06:25:43 -0700 |
| commit | bcbedf088abfb76bc7df49aac6087755cefe79bc (patch) | |
| tree | 0fd1db60cd7aef267d5c953bf6d7036932fbaa35 /src | |
| parent | 7397e05b70719d0a92209346319d69b7f6d840d5 (diff) | |
| parent | de3efc0975f1b84cf556bae11bbebe95609dbcdc (diff) | |
| download | px4-firmware-bcbedf088abfb76bc7df49aac6087755cefe79bc.tar.gz px4-firmware-bcbedf088abfb76bc7df49aac6087755cefe79bc.tar.bz2 px4-firmware-bcbedf088abfb76bc7df49aac6087755cefe79bc.zip | |
Merge pull request #811 from PX4/mavlink_sys_status_fix
mavlink: publish SYS_STATUS at constant rate
Diffstat (limited to 'src')
| -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); } }; |