diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 94d97fc12..89dcb1d7b 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -330,7 +330,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) tstatus.rxerrors = rstatus.rxerrors; tstatus.fixed = rstatus.fixed; - if (telemetry_status_pub == 0) { + if (telemetry_status_pub <= 0) { telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus); } else { @@ -613,7 +613,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); // global position packet hil_global_pos.timestamp = timestamp; - hil_global_pos.valid = true; + hil_global_pos.global_valid = true; hil_global_pos.lat = hil_state.lat; hil_global_pos.lon = hil_state.lon; hil_global_pos.alt = hil_state.alt / 1000.0f; |