From 716c80d9054797609b96e6b10d5844e21cef0661 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Tue, 2 May 2023 11:27:05 +0200
Subject: [PATCH] add back offboard control mode publisher

---
 src/px4_connection/src/heartbeat.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp
index 4ad9e9fc..7f6459d2 100644
--- a/src/px4_connection/src/heartbeat.cpp
+++ b/src/px4_connection/src/heartbeat.cpp
@@ -22,7 +22,7 @@ public:
     HeartBeat() : Node("setpoint_sender")
     {
         // create a publisher on the offboard control mode topic
-        // offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
+        offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
         // create timer to send heartbeat messages (offboard control) every 100ms
         timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this));
         start_time = this->get_clock()->now().seconds();