From 1d3da86abbd304c2dc9aa32bfddb46564972800d Mon Sep 17 00:00:00 2001 From: Morten Fyhn Amundsen Date: Thu, 5 Dec 2019 16:10:43 +0100 Subject: [PATCH] mavlink_receiver: Set distance_sensor id field equal to mavlink msg The id field should be copied from the mavlink message, not simply set to MAV_DISTANCE_SENSOR_LASER (which is 0). --- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index cee67c68f1..891b58cb85 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -700,7 +700,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg) ds.q[3] = dist_sensor.quaternion[3]; ds.signal_quality = -1; // TODO: A dist_sensor.signal_quality field is missing from the mavlink message definition. ds.type = dist_sensor.type; - ds.id = MAV_DISTANCE_SENSOR_LASER; + ds.id = dist_sensor.id; ds.orientation = dist_sensor.orientation; _distance_sensor_pub.publish(ds);