From ee580206b4fd3e79f27db42717987dd414a2a215 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 4 May 2014 14:06:38 +0200 Subject: mavlink: Only sending HIL control commands if the system is actually armed --- src/modules/mavlink/mavlink_messages.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 678ce1645..b538aa28b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -819,11 +819,11 @@ protected: void send(const hrt_abstime t) { - bool updated = status_sub->update(t); - updated |= pos_sp_triplet_sub->update(t); - updated |= act_sub->update(t); + bool updated = act_sub->update(t); + (void)pos_sp_triplet_sub->update(t); + (void)status_sub->update(t); - if (updated) { + if (updated && (status.arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; -- cgit v1.2.3 From 0e31b5935ebefef3b95d7e39dbf5b1435a4942a1 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 4 May 2014 15:01:07 +0200 Subject: remove trailing whitespace --- src/modules/mavlink/mavlink_messages.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index b538aa28b..ab733e442 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1353,7 +1353,7 @@ protected: uint8_t orientation = 0; uint8_t covariance = 20; - mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, + mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation, range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance); } }; -- cgit v1.2.3 From 5f786af8fa428c8ab684251310de6c3fbe795e8f Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 4 May 2014 15:02:00 +0200 Subject: mavlink: status is a pointer --- src/modules/mavlink/mavlink_messages.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index ab733e442..bef8a5a55 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -823,7 +823,7 @@ protected: (void)pos_sp_triplet_sub->update(t); (void)status_sub->update(t); - if (updated && (status.arming_state == ARMING_STATE_ARMED)) { + if (updated && (status->arming_state == ARMING_STATE_ARMED)) { /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state; uint8_t mavlink_base_mode; -- cgit v1.2.3