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

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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
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src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
+2 -1
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@@ -77,7 +77,8 @@ private:
{ {
vehicle_local_position_s vehicle_local_position{}; 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) { 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 static constexpr double LLA_MIN_DIFF = 0.0000001; // ~11.132 mm at the equator