From 48b7cd926ea829a7ee6be1094d163dbcb2276762 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Wed, 29 Jan 2020 09:24:21 +0100 Subject: [PATCH] mavlink_messages: add frame field to obstacle distance and correct typo --- src/modules/mavlink/mavlink_messages.cpp | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 0cfd568d6f..022e6e0d24 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -5093,19 +5093,20 @@ protected: bool send(const hrt_abstime t) override { - obstacle_distance_s obstacke_distance; + obstacle_distance_s obstacle_distance; - if (_obstacle_distance_fused_sub->update(&_obstacle_distance_time, &obstacke_distance)) { + if (_obstacle_distance_fused_sub->update(&_obstacle_distance_time, &obstacle_distance)) { mavlink_obstacle_distance_t msg = {}; - msg.time_usec = obstacke_distance.timestamp; - msg.sensor_type = obstacke_distance.sensor_type; - memcpy(msg.distances, obstacke_distance.distances, sizeof(msg.distances)); + msg.time_usec = obstacle_distance.timestamp; + msg.sensor_type = obstacle_distance.sensor_type; + memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances)); msg.increment = 0; - msg.min_distance = obstacke_distance.min_distance; - msg.max_distance = obstacke_distance.max_distance; - msg.angle_offset = obstacke_distance.angle_offset; - msg.increment_f = obstacke_distance.increment; + msg.min_distance = obstacle_distance.min_distance; + msg.max_distance = obstacle_distance.max_distance; + msg.angle_offset = obstacle_distance.angle_offset; + msg.increment_f = obstacle_distance.increment; + msg.frame = obstacle_distance.frame; mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg);