From 7f3b170024222cb9c8a4964afaa3e74d3e6f52c2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Feb 2019 11:29:08 -0500 Subject: [PATCH] mc_att_control: landing gear publish correct message --- src/modules/mc_att_control/mc_att_control_main.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index ec2a07c218..ea834c04d5 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -524,7 +524,9 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_ attitude_setpoint.timestamp = landing_gear.timestamp = hrt_absolute_time(); orb_publish_auto(ORB_ID(vehicle_attitude_setpoint), &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT); - orb_publish_auto(ORB_ID(landing_gear), &_landing_gear_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT); + + _landing_gear.timestamp = hrt_absolute_time(); + orb_publish_auto(ORB_ID(landing_gear), &_landing_gear_pub, &_landing_gear, nullptr, ORB_PRIO_DEFAULT); } /**