fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 22:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: publish SYS_STATUS at constant rate, don't look at update() result

Browse Source
This commit is contained in:
Anton Babushkin
2014-04-18 22:05:45 +02:00
committed by Julian Oes
parent 2cd4648a8e
commit a66dcbf7e9
1 changed files with 15 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+15 -16
View File
@@ -262,22 +262,21 @@ protected:
void send(const hrt_abstime t)
{
if (status_sub->update(t)) {
mavlink_msg_sys_status_send(_channel,
status->onboard_control_sensors_present,
status->onboard_control_sensors_enabled,
status->onboard_control_sensors_health,
status->load * 1000.0f,
status->battery_voltage * 1000.0f,
status->battery_current * 1000.0f,
status->battery_remaining,
status->drop_rate_comm,
status->errors_comm,
status->errors_count1,
status->errors_count2,
status->errors_count3,
status->errors_count4);
}
status_sub->update(t);
mavlink_msg_sys_status_send(_channel,
status->onboard_control_sensors_present,
status->onboard_control_sensors_enabled,
status->onboard_control_sensors_health,
status->load * 1000.0f,
status->battery_voltage * 1000.0f,
status->battery_current * 1000.0f,
status->battery_remaining,
status->drop_rate_comm,
status->errors_comm,
status->errors_count1,
status->errors_count2,
status->errors_count3,
status->errors_count4);
}
};