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px4-firmware
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mavlink: heartbeat message bug fixed

This commit is contained in:
Anton Babushkin 2014-02-26 22:13:49 +04:00
parent 355715a054
commit 2967763b16
1 changed files with 3 additions and 3 deletions
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6
src/modules/mavlink/mavlink_messages.cpp
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@ -38,7 +38,7 @@ protected:
status = (struct vehicle_status_s *)status_sub->get_data();
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet), sizeof(position_setpoint_triplet_s));
pos_sp_triplet = (struct position_setpoint_triplet_s *)status_sub->get_data();
pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
}
void send(const hrt_abstime t) {
@ -62,6 +62,7 @@ protected:
/* main state */
mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
union px4_custom_mode custom_mode;
custom_mode.data = 0;
if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
@ -96,7 +97,6 @@ protected:
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
}
mavlink_custom_mode = custom_mode.data;
/* set system state */
if (status->arming_state == ARMING_STATE_INIT
@ -119,7 +119,7 @@ protected:
mavlink_system.type,
MAV_AUTOPILOT_PX4,
mavlink_base_mode,
mavlink_custom_mode,
custom_mode.data,
mavlink_state);
}