diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.usb | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 7 |
2 files changed, 3 insertions, 6 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb index 76593881d..d6e638c0a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.usb +++ b/ROMFS/px4fmu_common/init.d/rc.usb @@ -17,6 +17,8 @@ mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30 usleep 100000 mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20 usleep 100000 +mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20 +usleep 100000 # Exit shell to make it available to MAVLink exit diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0430987ec..e0a148b53 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1049,13 +1049,8 @@ public: private: MavlinkOrbSubscription *pos_sp_triplet_sub; - uint64_t pos_sp_triplet_time; protected: - explicit MavlinkStreamGlobalPositionSetpointInt() : MavlinkStream(), - pos_sp_triplet_time(0) - {} - void subscribe(Mavlink *mavlink) { pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)); @@ -1065,7 +1060,7 @@ protected: { struct position_setpoint_triplet_s pos_sp_triplet; - if (pos_sp_triplet_sub->update(&pos_sp_triplet_time, &pos_sp_triplet)) { + if (pos_sp_triplet_sub->update(&pos_sp_triplet)) { mavlink_msg_global_position_setpoint_int_send(_channel, MAV_FRAME_GLOBAL, (int32_t)(pos_sp_triplet.current.lat * 1e7), |