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Navigator: Do not publish an empty triplet

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This commit is contained in:
Lorenz Meier
2016-05-13 11:03:35 +02:00
parent 8b41ddd224
commit a700b02f77
1 changed files with 5 additions and 0 deletions
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src/modules/navigator/navigator_main.cpp
+5
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@@ -684,6 +684,11 @@ Navigator::publish_position_setpoint_triplet()
/* update navigation state */ /* update navigation state */
_pos_sp_triplet.nav_state = _vstatus.nav_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/* do not publish an empty triplet */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 */ /* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub != nullptr) { if (_pos_sp_triplet_pub != nullptr) {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet); orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);