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mavlink: move HEARTBEAT to separate stream header

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This commit is contained in:
Daniel Agar
2021-03-11 11:46:14 -05:00
parent 0c138b7e03
commit 3f872ebf20
5 changed files with 215 additions and 202 deletions
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src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+1 -4
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@@ -34,7 +34,6 @@
#ifndef HIGH_LATENCY2_HPP
#define HIGH_LATENCY2_HPP
#include <commander/px4_custom_mode.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/matrix/matrix/math.hpp>
@@ -447,9 +446,7 @@ private:
}
// flight mode
union px4_custom_mode custom_mode;
uint8_t mavlink_base_mode;
get_mavlink_navigation_mode(&status, &mavlink_base_mode, &custom_mode);
union px4_custom_mode custom_mode {get_px4_custom_mode(status.nav_state)};
msg->custom_mode = custom_mode.custom_mode_hl;
return true;