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mavlink local_position_ned: always publish on update, not just when xy and v_xy valid

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-11 00:47:32 -04:00
committed by Daniel Agar
parent ce609144b0
commit 9159f020cb
1 changed files with 11 additions and 12 deletions
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src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp
+11 -12
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@@ -62,21 +62,20 @@ private:
vehicle_local_position_s lpos;
if (_lpos_sub.update(&lpos)) {
if (lpos.xy_valid && lpos.v_xy_valid) {
mavlink_local_position_ned_t msg{};
mavlink_local_position_ned_t msg{};
msg.time_boot_ms = lpos.timestamp / 1000;
msg.x = lpos.x;
msg.y = lpos.y;
msg.z = lpos.z;
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
msg.time_boot_ms = lpos.timestamp / 1000;
msg.x = lpos.x;
msg.y = lpos.y;
msg.z = lpos.z;
msg.vx = lpos.vx;
msg.vy = lpos.vy;
msg.vz = lpos.vz;
mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg);
mavlink_msg_local_position_ned_send_struct(_mavlink->get_channel(), &msg);
return true;
return true;
}
}
return false;