forked from Archive/PX4-Autopilot
mavlink: Only send the distance sensor message if the topic actually updates
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@ -1339,7 +1339,7 @@ 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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(void)range_sub->update(t);
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if (range_sub->update(t)) {
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uint8_t type;
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uint8_t type;
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@ -1356,6 +1356,7 @@ protected:
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mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
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mavlink_msg_distance_sensor_send(_channel, range->timestamp / 1000, type, id, orientation,
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range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
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range->minimum_distance*100, range->maximum_distance*100, range->distance*100, covariance);
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}
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}
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}
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};
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};
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MavlinkStream *streams_list[] = {
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MavlinkStream *streams_list[] = {
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