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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
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Lorenz Meier
2014-04-07 06:25:43 -07:00
parent 7397e05b70 de3efc0975
commit bcbedf088a
1 changed files with 15 additions and 16 deletions
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src/modules/mavlink/mavlink_messages.cpp
+15 -16
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@@ -262,22 +262,21 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
if (status_sub->update(t)) { status_sub->update(t);
mavlink_msg_sys_status_send(_channel, mavlink_msg_sys_status_send(_channel,
status->onboard_control_sensors_present, status->onboard_control_sensors_present,
status->onboard_control_sensors_enabled, status->onboard_control_sensors_enabled,
status->onboard_control_sensors_health, status->onboard_control_sensors_health,
status->load * 1000.0f, status->load * 1000.0f,
status->battery_voltage * 1000.0f, status->battery_voltage * 1000.0f,
status->battery_current * 1000.0f, status->battery_current * 1000.0f,
status->battery_remaining, status->battery_remaining,
status->drop_rate_comm, status->drop_rate_comm,
status->errors_comm, status->errors_comm,
status->errors_count1, status->errors_count1,
status->errors_count2, status->errors_count2,
status->errors_count3, status->errors_count3,
status->errors_count4); status->errors_count4);
}
} }
}; };