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Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR

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Fix actuator controls timestamps for MAV_CMD_DO_SET_ACTUATOR
This commit is contained in:
Jaeyoung-Lim
2021-03-07 20:31:24 -05:00
committed by Daniel Agar
parent 4465c4fbf6
commit 1fa08c3997
1 changed files with 2 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -506,11 +506,11 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
// index should be 0, otherwise ignore the message
if (((int) vehicle_command.param7) == 0) {
actuator_controls_s actuator_controls{};
actuator_controls.timestamp = hrt_absolute_time();
// update with existing values to avoid changing unspecified controls
_actuator_controls_3_sub.update(&actuator_controls);
actuator_controls.timestamp = hrt_absolute_time();
bool updated = false;
if (PX4_ISFINITE(vehicle_command.param1)) {