forked from Archive/PX4-Autopilot
mavlink: publish SYS_STATUS at constant rate, don't look at update() result
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parent
7397e05b70
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de3efc0975
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@ -262,22 +262,21 @@ protected:
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void send(const hrt_abstime t)
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void send(const hrt_abstime t)
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{
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{
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if (status_sub->update(t)) {
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status_sub->update(t);
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mavlink_msg_sys_status_send(_channel,
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mavlink_msg_sys_status_send(_channel,
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status->onboard_control_sensors_present,
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status->onboard_control_sensors_present,
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status->onboard_control_sensors_enabled,
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status->onboard_control_sensors_enabled,
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status->onboard_control_sensors_health,
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status->onboard_control_sensors_health,
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status->load * 1000.0f,
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status->load * 1000.0f,
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status->battery_voltage * 1000.0f,
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status->battery_voltage * 1000.0f,
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status->battery_current * 1000.0f,
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status->battery_current * 1000.0f,
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status->battery_remaining,
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status->battery_remaining,
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status->drop_rate_comm,
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status->drop_rate_comm,
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status->errors_comm,
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status->errors_comm,
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status->errors_count1,
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status->errors_count1,
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status->errors_count2,
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status->errors_count2,
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status->errors_count3,
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status->errors_count3,
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status->errors_count4);
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status->errors_count4);
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}
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}
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}
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};
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};
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