diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index eb1af79d6..c551fdfea 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -690,7 +690,13 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m for(size_t i = 0; i < 8 ; i++){ actuator_controls.control[i] = set_actuator_control_target.controls[i]; } - _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); + + if (_offboard_control_mode_pub < 0) { + _actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls); + } else { + orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls); + } + } } |