diff options
Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp index f767bbb36..1972d8cfa 100644 --- a/src/platforms/ros/nodes/commander/commander.cpp +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -51,7 +51,9 @@ Commander::Commander() : _man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)), _vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)), _actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)), - _vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)) + _vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)), + _parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)), + _msg_parameter_update() { } @@ -85,6 +87,12 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon _vehicle_control_mode_pub.publish(msg_vehicle_control_mode); _actuator_armed_pub.publish(msg_actuator_armed); _vehicle_status_pub.publish(msg_vehicle_status); + + /* Fill parameter update */ + if (px4::get_time_micros() - _msg_parameter_update.timestamp > 1e6) { + _msg_parameter_update.timestamp = px4::get_time_micros(); + _parameter_update_pub.publish(_msg_parameter_update); + } } int main(int argc, char **argv) |