Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 21:55:34 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Check position subscriber before force-send flag when sending GPS global origin stream

Browse Source
This commit is contained in:
Daniel Mesham
2022-05-04 09:03:52 +02:00
committed by Daniel Agar
parent 539f874325
commit fe48de6240
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
+2 -1
View File
@@ -77,7 +77,8 @@ private:
{
vehicle_local_position_s vehicle_local_position{};
if (_force_next_send || _vehicle_local_position_sub.update(&vehicle_local_position)) {
if ((_vehicle_local_position_sub.updated() || _force_next_send)
&& _vehicle_local_position_sub.copy(&vehicle_local_position)) {
if (vehicle_local_position.xy_global && vehicle_local_position.z_global) {
static constexpr double LLA_MIN_DIFF = 0.0000001; // ~11.132 mm at the equator