forked from Archive/PX4-Autopilot
mavlink: use queueing for acks
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@ -386,9 +386,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
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command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
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command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
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}
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}
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if (_command_ack_pub == nullptr) {
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_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
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int instance;
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} else {
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orb_publish_auto(ORB_ID(vehicle_command_ack), &_command_ack_pub, &command_ack, &instance, ORB_PRIO_DEFAULT);
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orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
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}
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} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
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} else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
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get_message_interval((int)cmd_mavlink.param1);
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get_message_interval((int)cmd_mavlink.param1);
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