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mavlink: use queueing for acks

This commit is contained in:
Julian Oes 2016-11-08 17:00:28 +01:00 committed by Beat Küng
parent d0b1983784
commit 7df11b900d
1 changed files with 5 additions and 2 deletions
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7
src/modules/mavlink/mavlink_receiver.cpp
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@ -386,9 +386,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
}
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
int instance;
orb_publish_auto(ORB_ID(vehicle_command_ack), &_command_ack_pub, &command_ack, &instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
}
} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
get_message_interval((int)cmd_mavlink.param1);