From 9159f020cb4051714f56e2a1d860c407b977bc94 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 10 Oct 2022 17:52:57 +0200 Subject: [PATCH] mavlink local_position_ned: always publish on update, not just when xy and v_xy valid Signed-off-by: Silvan Fuhrer --- .../mavlink/streams/LOCAL_POSITION_NED.hpp | 23 +++++++++---------- 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp b/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp index 8977999457..c06fef2120 100644 --- a/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp +++ b/src/modules/mavlink/streams/LOCAL_POSITION_NED.hpp @@ -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;