set_attitude_target: get vehicle_status every time.

src/modules/mavlink/mavlink_receiver.cpp

@@ -1368,9 +1368,8 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 			_control_mode_sub.copy(&control_mode);
 
 			if (control_mode.flag_control_offboard_enabled) {
-				if (_vehicle_status_sub.updated()) {
+				vehicle_status_s vehicle_status{};
-					_vehicle_status_sub.copy(&_vehicle_status);
+				_vehicle_status_sub.copy(&vehicle_status);
-				}
 
 				/* Publish attitude setpoint if attitude and thrust ignore bits are not set */
 				if (!(offboard_control_mode.ignore_attitude)) {
@@ -1422,7 +1421,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 						case MAV_TYPE_VTOL_RESERVED3:
 						case MAV_TYPE_VTOL_RESERVED4:
 						case MAV_TYPE_VTOL_RESERVED5:
-							switch (_vehicle_status.vehicle_type) {
+							switch (vehicle_status.vehicle_type) {
 							case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
 								att_sp.thrust_body[0] = set_attitude_target.thrust;
 
@@ -1444,10 +1443,10 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 					}
 
 					// Publish attitude setpoint
-					if (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
+					if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
 						_mc_virtual_att_sp_pub.publish(att_sp);
 
-					} else if (_vehicle_status.is_vtol && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
+					} else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
 						_fw_virtual_att_sp_pub.publish(att_sp);
 
 					} else {
@@ -1505,7 +1504,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 						case MAV_TYPE_VTOL_RESERVED3:
 						case MAV_TYPE_VTOL_RESERVED4:
 						case MAV_TYPE_VTOL_RESERVED5:
-							switch (_vehicle_status.vehicle_type) {
+							switch (vehicle_status.vehicle_type) {
 							case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
 								rates_sp.thrust_body[0] = set_attitude_target.thrust;
 

src/modules/mavlink/mavlink_receiver.h

@@ -278,8 +278,6 @@ private:
 
 	hrt_abstime			_last_utm_global_pos_com{0};
 
-	vehicle_status_s _vehicle_status{};
-
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::BAT_CRIT_THR>)     _param_bat_crit_thr,
 		(ParamFloat<px4::params::BAT_EMERGEN_THR>)  _param_bat_emergen_thr,