From 33b75d8e872fc5c9d7074350f0eb8905ec572640 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 14 Dec 2017 09:16:34 +1100
Subject: [PATCH] mavlink: update local_position publication
Ensure all data is set.
---
src/modules/mavlink/mavlink_receiver.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 80be93626b..b28653005b 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2206,6 +2206,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
_hil_local_pos.yaw = euler.psi();
_hil_local_pos.xy_global = true;
_hil_local_pos.z_global = true;
+ _hil_local_pos.vxy_max = 0.0f;
+ _hil_local_pos.limit_hagl = false;
if (_local_pos_pub == nullptr) {
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_hil_local_pos);
--
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