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commander: set timestamp for vehicle_command publication

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Beat Küng
2018-04-11 15:19:47 +02:00
parent 0caa4dc171
commit f02ef20a23
1 changed files with 2 additions and 0 deletions
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src/modules/commander/commander.cpp
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@@ -4244,6 +4244,7 @@ void Commander::data_link_checks(int32_t highlatencydatalink_loss_timeout, int32
mavlink_log_critical(&mavlink_log_pub, "LOW LATENCY DATA LINKS REGAINED, DEACTIVATING HIGH LATENCY LINK");
vehicle_command_s vehicle_cmd;
vehicle_cmd.timestamp = hrt_absolute_time();
vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY;
vehicle_cmd.param1 = 0.0f;
vehicle_cmd.from_external = false;
@@ -4264,6 +4265,7 @@ void Commander::data_link_checks(int32_t highlatencydatalink_loss_timeout, int32
*status_changed = true;
vehicle_command_s vehicle_cmd;
vehicle_cmd.timestamp = hrt_absolute_time();
vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY;
vehicle_cmd.param1 = 1.0f;
vehicle_cmd.from_external = false;