diff options
| -rw-r--r-- | apps/mavlink/orb_listener.c | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 90b0073cf..8a604d6c1 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -474,7 +474,6 @@ l_vehicle_attitude_controls(struct listener *l) /* Only send in HIL mode */ if (mavlink_hil_enabled) { - /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; uint8_t mavlink_mode = 0; @@ -548,8 +547,12 @@ uorb_receive_thread(void *arg) mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); } else { + static bool updated = false; for (unsigned i = 0; i < n_listeners; i++) { - if (fds[i].revents & POLLIN) + orb_check(*(listeners[i].subp), &updated); +// printf("revents: %d:%d", i, fds[i].revents); +// if (fds[i].revents & POLLIN) + if(updated) listeners[i].callback(&listeners[i]); } } |