From ffce9885ca578b02e341adb91e4b874531bcf9bd Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 6 Jun 2023 14:57:01 -0400 Subject: [PATCH] commander: periodically republish home position if valid --- src/modules/commander/HomePosition.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/modules/commander/HomePosition.cpp b/src/modules/commander/HomePosition.cpp index 0f9766bebb..59fcfca9a6 100644 --- a/src/modules/commander/HomePosition.cpp +++ b/src/modules/commander/HomePosition.cpp @@ -343,4 +343,10 @@ void HomePosition::update(bool set_automatically, bool check_if_changed) setHomePosition(); } } + + // periodically republish home position if valid + if (home.valid_alt && (hrt_elapsed_time(&home.timestamp) > 5_s)) { + _home_position_pub.get().timestamp = hrt_absolute_time(); + _home_position_pub.update(); + } }