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commander: periodically republish home position if valid

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Daniel Agar 2023-06-06 14:57:01 -04:00
parent ff08536247
commit ffce9885ca
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1 changed files with 6 additions and 0 deletions
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src/modules/commander/HomePosition.cpp
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@ -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();
}
}