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Mavlink: Get full sensor status even if only subset has changed when composing SYS_STATUS message (#11886)

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jdzerve
2019-04-23 15:31:13 +03:00
committed by Daniel Agar
parent c50c44cc58
commit 2e9d0f0751
1 changed files with 11 additions and 0 deletions
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src/modules/mavlink/mavlink_messages.cpp
+11
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@@ -569,6 +569,17 @@ protected:
const bool updated_battery = _battery_status_sub->update(&_battery_status_timestamp, &battery_status);
if (updated_status || updated_battery || updated_cpuload) {
if (!updated_status) {
_status_sub->update(&status);
}
if (!updated_battery) {
_battery_status_sub->update(&battery_status);
}
if (!updated_cpuload) {
_cpuload_sub->update(&cpuload);
}
mavlink_sys_status_t msg = {};
msg.onboard_control_sensors_present = status.onboard_control_sensors_present;