From a700b02f77ff3eb2ef7b44e5b0b0e1b603257a5f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 13 May 2016 11:03:35 +0200 Subject: [PATCH] Navigator: Do not publish an empty triplet --- src/modules/navigator/navigator_main.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index aa3cc37fa2..d5d0095d64 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -684,6 +684,11 @@ Navigator::publish_position_setpoint_triplet() /* update navigation state */ _pos_sp_triplet.nav_state = _vstatus.nav_state; + /* do not publish an empty triplet */ + if (!_pos_sp_triplet.current.valid) { + return; + } + /* lazily publish the position setpoint triplet only once available */ if (_pos_sp_triplet_pub != nullptr) { orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);