commander: periodically republish home position if valid

2026-11-08 07:01:35 +08:00 · 2023-06-06 14:58:55 -04:00
parent ff08536247
commit ffce9885ca
1 changed files with 6 additions and 0 deletions
@@ -343,4 +343,10 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 			setHomePosition();
 		}
 	}
+
+	// periodically republish home position if valid
+	if (home.valid_alt && (hrt_elapsed_time(&home.timestamp) > 5_s)) {
+		_home_position_pub.get().timestamp = hrt_absolute_time();
+		_home_position_pub.update();
+	}
 }