From f7b47afae738cf0d29f7c00838b8d8f02811d79d Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 21 Feb 2018 21:40:40 +0300
Subject: [PATCH] mobile rc: publish initial /state_latched

---
 clever/src/rc.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/clever/src/rc.cpp b/clever/src/rc.cpp
index 27d39591..d96629ba 100644
--- a/clever/src/rc.cpp
+++ b/clever/src/rc.cpp
@@ -55,8 +55,6 @@ private:
     {
         ROS_INFO("State timeout");
         mavros_msgs::State unknown_state;
-        unknown_state.connected = true;
-        unknown_state.mode = "UNKNOWN";
         state_pub.publish(unknown_state);
         state_msg = nullptr;
     }
@@ -66,6 +64,10 @@ private:
         state_sub = nh.subscribe("mavros/state", 1, &RC::handleState, this);
         state_pub = nh.advertise<mavros_msgs::State>("state_latched", 1, true);
         state_timeout_timer = nh.createTimer(ros::Duration(0), &RC::stateTimedOut, this, true, false);
+
+        // Publish initial state
+        mavros_msgs::State unknown_state;
+        state_pub.publish(unknown_state);
     }
 
     int createSocket(int port)