dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mavlink: init structs for HEARTBEAT if uORB topic copy failed

This commit is contained in:
Anton Babushkin 2014-06-26 22:37:11 +02:00
parent f3a77705a7
commit 62156e78ae
1 changed files with 9 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/mavlink/mavlink_messages.cpp
View File

@ -227,8 +227,15 @@ protected:
struct position_setpoint_triplet_s pos_sp_triplet;
/* 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);
if (!status_sub->update(&status)) {
/* if topic update failed fill it with defaults */
memset(&status, 0, sizeof(status));
}
if (!pos_sp_triplet_sub->update(&pos_sp_triplet)) {
/* if topic update failed fill it with defaults */
memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
}
uint8_t mavlink_state = 0;
uint8_t mavlink_base_mode = 0;