diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 3d897431a..1ed3f4001 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -81,6 +81,7 @@ #include "mavlink_messages.h" #include "mavlink_receiver.h" #include "mavlink_rate_limiter.h" +#include "mavlink_commands.h" /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -1920,6 +1921,8 @@ Mavlink::task_main(int argc, char *argv[]) struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data(); + MavlinkCommandsStream commands_stream(this, _channel); + /* add default streams depending on mode and intervals depending on datarate */ float rate_mult = _datarate / 1000.0f; @@ -1982,6 +1985,9 @@ Mavlink::task_main(int argc, char *argv[]) set_hil_enabled(status->hil_state == HIL_STATE_ON); } + /* update commands stream */ + commands_stream.update(t); + /* check for requested subscriptions */ if (_subscribe_to_stream != nullptr) { if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) { |