From 532a9704106fa8905df2ccc23d0dc03284eaaa4e Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Sun, 6 May 2018 15:43:33 +0300 Subject: [PATCH] mavlink: fix transmitting vehicle commands --- src/modules/mavlink/mavlink_main.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index fc4063ccd6..b1f4d09910 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1337,13 +1337,15 @@ void Mavlink::send_protocol_version() MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance) { - /* check if already subscribed to this topic */ - MavlinkOrbSubscription *sub; + if (topic != ORB_ID(vehicle_command)) { + /* check if already subscribed to this topic */ + MavlinkOrbSubscription *sub; - LL_FOREACH(_subscriptions, sub) { - if (sub->get_topic() == topic && sub->get_instance() == instance) { - /* already subscribed */ - return sub; + LL_FOREACH(_subscriptions, sub) { + if (sub->get_topic() == topic && sub->get_instance() == instance) { + /* already subscribed */ + return sub; + } } }