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Sim: Keep MAVLink parse status persistent, because that is the frickin state machine

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This commit is contained in:
Lorenz Meier
2016-01-07 23:19:20 +01:00
parent 24116b2672
commit 4907bf3374
1 changed files with 5 additions and 4 deletions
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src/modules/simulator/simulator_mavlink.cpp
+5 -4
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@@ -530,6 +530,9 @@ void Simulator::pollForMAVLinkMessages(bool publish)
pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
pthread_attr_destroy(&sender_thread_attr);
mavlink_status_t udp_status = {};
mavlink_status_t serial_status = {};
// wait for new mavlink messages to arrive
while (true) {
@@ -555,10 +558,9 @@ void Simulator::pollForMAVLinkMessages(bool publish)
if (len > 0) {
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; i++) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &status)) {
if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &udp_status)) {
// have a message, handle it
handle_message(&msg, publish);
}
@@ -572,10 +574,9 @@ void Simulator::pollForMAVLinkMessages(bool publish)
if (len > 0) {
mavlink_message_t msg;
mavlink_status_t status;
for (int i = 0; i < len; ++i) {
if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &status)) {
if (mavlink_parse_char(MAVLINK_COMM_1, serial_buf[i], &msg, &serial_status)) {
// have a message, handle it
handle_message(&msg, true);
}