|
|
|
@ -474,7 +474,6 @@ l_vehicle_attitude_controls(struct listener *l)
@@ -474,7 +474,6 @@ l_vehicle_attitude_controls(struct listener *l)
|
|
|
|
|
|
|
|
|
|
/* Only send in HIL mode */ |
|
|
|
|
if (mavlink_hil_enabled) { |
|
|
|
|
|
|
|
|
|
/* translate the current syste state to mavlink state and mode */ |
|
|
|
|
uint8_t mavlink_state = 0; |
|
|
|
|
uint8_t mavlink_mode = 0; |
|
|
|
@ -548,8 +547,12 @@ uorb_receive_thread(void *arg)
@@ -548,8 +547,12 @@ uorb_receive_thread(void *arg)
|
|
|
|
|
mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data"); |
|
|
|
|
} else { |
|
|
|
|
|
|
|
|
|
static bool updated = false; |
|
|
|
|
for (unsigned i = 0; i < n_listeners; i++) { |
|
|
|
|
if (fds[i].revents & POLLIN) |
|
|
|
|
orb_check(*(listeners[i].subp), &updated); |
|
|
|
|
// printf("revents: %d:%d", i, fds[i].revents);
|
|
|
|
|
// if (fds[i].revents & POLLIN)
|
|
|
|
|
if(updated) |
|
|
|
|
listeners[i].callback(&listeners[i]); |
|
|
|
|
} |
|
|
|
|
} |
|
|
|
|