From 95f899fee702a879b153c4c22955e5c7ec148cde Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Thu, 15 Sep 2016 07:09:54 -0600 Subject: [PATCH] always publish simulator groundtruth attitude --- src/modules/simulator/simulator_mavlink.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 6911cb4285..6ec0a04023 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -329,10 +329,9 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish) hil_attitude.pitch = euler(0); hil_attitude.yaw = euler(2); - if (true) { - int hilstate_multi; - orb_publish_auto(ORB_ID(vehicle_attitude_groundtruth), &_attitude_pub, &hil_attitude, &hilstate_multi, ORB_PRIO_HIGH); - } + // always publish ground truth attitude message + int hilstate_multi; + orb_publish_auto(ORB_ID(vehicle_attitude_groundtruth), &_attitude_pub, &hil_attitude, &hilstate_multi, ORB_PRIO_HIGH); } break; }