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MAVLink: Queue transponder reports and send them at full data rate

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This will ensure that no transponder reports are dropped and that all received reports are passed on to the GCS and other devices.
This commit is contained in:
Lorenz Meier
2017-07-20 09:13:53 +02:00
parent 6081435801
commit c1f5feac83
3 changed files with 9 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -2087,7 +2087,7 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
//warnx("code: %d callsign: %s, vel: %8.4f", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity);
if (_transponder_report_pub == nullptr) {
_transponder_report_pub = orb_advertise(ORB_ID(transponder_report), &t);
_transponder_report_pub = orb_advertise_queue(ORB_ID(transponder_report), &t, transponder_report_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(transponder_report), _transponder_report_pub, &t);