diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 4f83c6b95..33358b7b6 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -191,7 +191,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) } } - + /* If we've received a valid message, mark the flag indicating so. This is used in the '-w' command-line flag. */ _mavlink->set_has_received_messages(true); @@ -438,10 +438,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) memset(&manual, 0, sizeof(manual)); manual.timestamp = hrt_absolute_time(); - manual.pitch = man.x / 1000.0f; - manual.roll = man.y / 1000.0f; - manual.yaw = man.r / 1000.0f; - manual.throttle = man.z / 1000.0f; + manual.x = man.x / 1000.0f; + manual.y = man.y / 1000.0f; + manual.r = man.r / 1000.0f; + manual.z = man.z / 1000.0f; if (_manual_pub < 0) { _manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); @@ -932,6 +932,8 @@ void *MavlinkReceiver::start_helper(void *context) rcv->receive_thread(NULL); delete rcv; + + return nullptr; } pthread_t @@ -949,7 +951,7 @@ MavlinkReceiver::receive_start(Mavlink *parent) param.sched_priority = SCHED_PRIORITY_MAX - 40; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 3000); + pthread_attr_setstacksize(&receiveloop_attr, 2900); pthread_t thread; pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); |