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mavlink doesn't have already published message

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- if the land detector started before the mavlink module it won't have
   a valid message vehicle_land_detected message until published again
This commit is contained in:
Daniel Agar
2016-11-29 00:49:57 -05:00
parent abc79faf3b
commit e0a9793347
1 changed files with 12 additions and 2 deletions
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src/modules/mavlink/mavlink_orb_subscription.cpp
+12 -2
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@@ -39,13 +39,15 @@
* @author Lorenz Meier <lorenz@px4.io> * @author Lorenz Meier <lorenz@px4.io>
*/ */
#include "mavlink_orb_subscription.h"
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <uORB/uORB.h>
#include <stdio.h> #include <stdio.h>
#include "mavlink_orb_subscription.h" #include <px4_defines.h>
#include <uORB/uORB.h>
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic, int instance) : MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic, int instance) :
next(nullptr), next(nullptr),
@@ -195,6 +197,14 @@ MavlinkOrbSubscription::is_published()
_published = true; _published = true;
} }
// topic may have been last published before we subscribed
uint64_t time_topic = 0;
if (!_published && orb_stat(_fd, &time_topic) == PX4_OK) {
if (time_topic != 0) {
_published = true;
}
}
return _published; return _published;
} }