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mavlink: Always send heartbeat and do not require both topics to update

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This commit is contained in:
Lorenz Meier
2014-06-26 12:54:33 +02:00
parent 3e76be0d69
commit f76040e554
1 changed files with 14 additions and 12 deletions
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src/modules/mavlink/mavlink_messages.cpp
+14 -12
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@@ -226,19 +226,21 @@ protected:
struct vehicle_status_s status;
struct position_setpoint_triplet_s pos_sp_triplet;
if (status_sub->update(&status) && pos_sp_triplet_sub->update(&pos_sp_triplet)) {
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
/* always send the heartbeat, independent of the update status of the topics */
(void)status_sub->update(&status);
(void)pos_sp_triplet_sub->update(&pos_sp_triplet);
mavlink_msg_heartbeat_send(_channel,
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
mavlink_state);
}
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;
uint32_t mavlink_custom_mode = 0;
get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
mavlink_msg_heartbeat_send(_channel,
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
mavlink_state);
}
};