diff options
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 13 |
1 files changed, 5 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index c72a53fee..5b8345e7e 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -144,14 +144,6 @@ set_hil_on_off(bool hil_enabled) /* Enable HIL */ if (hil_enabled && !mavlink_hil_enabled) { - /* Advertise topics */ - pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude); - pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos); - - /* sensore level hil */ - pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors); - pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps); - mavlink_hil_enabled = true; /* ramp up some HIL-related subscriptions */ @@ -714,6 +706,8 @@ int mavlink_thread_main(int argc, char *argv[]) lowspeed_counter++; + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + /* sleep quarter the time */ usleep(25000); @@ -725,10 +719,13 @@ int mavlink_thread_main(int argc, char *argv[]) /* send parameters at 20 Hz (if queued for sending) */ mavlink_pm_queued_send(); + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); /* sleep quarter the time */ usleep(25000); + mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos); + if (baudrate > 57600) { mavlink_pm_queued_send(); } |