From 2e9d0f0751b2d00a7a6e648a7d57c6be48f9a493 Mon Sep 17 00:00:00 2001 From: jdzerve Date: Tue, 23 Apr 2019 15:31:13 +0300 Subject: [PATCH] Mavlink: Get full sensor status even if only subset has changed when composing SYS_STATUS message (#11886) --- src/modules/mavlink/mavlink_messages.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index afbf0b9095..f0f64b4534 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -569,6 +569,17 @@ protected: const bool updated_battery = _battery_status_sub->update(&_battery_status_timestamp, &battery_status); if (updated_status || updated_battery || updated_cpuload) { + + if (!updated_status) { + _status_sub->update(&status); + } + if (!updated_battery) { + _battery_status_sub->update(&battery_status); + } + if (!updated_cpuload) { + _cpuload_sub->update(&cpuload); + } + mavlink_sys_status_t msg = {}; msg.onboard_control_sensors_present = status.onboard_control_sensors_present;