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Merge pull request #811 from PX4/mavlink_sys_status_fix

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mavlink: publish SYS_STATUS at constant rate
This commit is contained in:
Lorenz Meier 2014-04-07 06:25:43 -07:00
commit bcbedf088a
1 changed files with 15 additions and 16 deletions
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31
src/modules/mavlink/mavlink_messages.cpp
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@ -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);
}
};