diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 146e2d4b8..0ceee32a1 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -274,7 +274,7 @@ protected: status->onboard_control_sensors_health, status->load * 1000.0f, status->battery_voltage * 1000.0f, - status->battery_current * 1000.0f, + status->battery_current * 100.0f, status->battery_remaining * 100.0f, status->drop_rate_comm, status->errors_comm, @@ -938,14 +938,14 @@ protected: void send(const hrt_abstime t) { - if (pos_sp_triplet_sub->update(t)) { - mavlink_msg_global_position_setpoint_int_send(_channel, - MAV_FRAME_GLOBAL, - (int32_t)(pos_sp_triplet->current.lat * 1e7), - (int32_t)(pos_sp_triplet->current.lon * 1e7), - (int32_t)(pos_sp_triplet->current.alt * 1000), - (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); - } + /* always send this message, even if it has not been updated */ + pos_sp_triplet_sub->update(t); + mavlink_msg_global_position_setpoint_int_send(_channel, + MAV_FRAME_GLOBAL, + (int32_t)(pos_sp_triplet->current.lat * 1e7), + (int32_t)(pos_sp_triplet->current.lon * 1e7), + (int32_t)(pos_sp_triplet->current.alt * 1000), + (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); } }; |