From 60235f84740779d06dd8f07dc30629fbc61abc32 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 3 Jun 2021 11:43:10 +0200 Subject: [PATCH] mavlink: properly initialize vehicle_command queue This makes sure that the vehicle_command topic is properly initialized from the beginning. orb_exists returns -1 or 0 and not a bool as one would expect. --- src/modules/mavlink/mavlink_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 45cda0c94d..319c315a53 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -118,7 +118,7 @@ Mavlink::Mavlink() : } // ensure topic exists, otherwise we might lose first queued commands - if (!orb_exists(ORB_ID(vehicle_command), 0)) { + if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) { orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH); }