diff options
Diffstat (limited to 'src/modules/mavlink_onboard')
| -rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 3 | ||||
| -rw-r--r-- | src/modules/mavlink_onboard/orb_topics.h | 2 |
2 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 0edb53a3e..ab9ce45f3 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -441,7 +441,8 @@ int mavlink_thread_main(int argc, char *argv[]) get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); + // TODO fix navigation state, use control_mode topic + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, 0, mavlink_state); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h index 1b49c9ce4..86bfa26f2 100644 --- a/src/modules/mavlink_onboard/orb_topics.h +++ b/src/modules/mavlink_onboard/orb_topics.h @@ -50,7 +50,7 @@ #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_vicon_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/optical_flow.h> |