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GCS_MAVLink: send data for sensors even if no data for other sensors

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This is notable when you have a lot of compasses, for example
This commit is contained in:
Peter Barker 2018-12-05 12:04:00 +11:00 committed by Randy Mackay
parent c15de72095
commit 09905bb2f2
1 changed files with 14 additions and 6 deletions
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20
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -1659,16 +1659,24 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
const AP_InertialSensor &ins = AP::ins();
const Compass &compass = AP::compass();
if (ins.get_gyro_count() <= instance ||
ins.get_accel_count() <= instance) {
return;
bool have_data = false;
Vector3f accel{};
if (ins.get_accel_count() > instance) {
accel = ins.get_accel(instance);
have_data = true;
}
Vector3f gyro{};
if (ins.get_accel_count() > instance) {
gyro = ins.get_gyro(instance);
have_data = true;
}
const Vector3f &accel = ins.get_accel(instance);
const Vector3f &gyro = ins.get_gyro(instance);
Vector3f mag{};
if (compass.get_count() > instance) {
mag = compass.get_field(instance);
have_data = true;
}
if (!have_data) {
return;
}
send_fn(
chan,