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vehicle_command topic: use uorb queuing with length 3

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Just to make sure we don't lose any messages.
This commit is contained in:
Beat Küng
2016-09-07 18:47:12 +02:00
parent c1b73a068e
commit be4db3c5df
9 changed files with 29 additions and 19 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -3
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@@ -412,7 +412,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
vcmd.confirmation = cmd_mavlink.confirmation;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
@@ -488,7 +488,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
vcmd.source_component = msg->compid;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
@@ -636,7 +636,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
vcmd.confirmation = 1;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);