diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a8b4d11cc..20b1a966f 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -305,7 +305,7 @@ protected: msg.custom_mode = 0; get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode); msg.type = mavlink_system.type; - msg.autopilot = mavlink_system.type; + msg.autopilot = MAV_AUTOPILOT_PX4; msg.mavlink_version = 3; _mavlink->send_message(MAVLINK_MSG_ID_HEARTBEAT, &msg); @@ -352,7 +352,7 @@ protected: {} void subscribe() { - _cmd_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_status)); + _cmd_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_command)); } void send(const hrt_abstime t) |