From 56a6faf22347737fa8bf87dd76baee9861a0be2a Mon Sep 17 00:00:00 2001
From: Rhys <rhys.mainwaring@me.com>
Date: Wed, 22 Sep 2021 01:49:30 -0700
Subject: [PATCH] [IGN] bug fix - last controller update time should not be
 updated if state is not sent (#5)

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 src/ArduPilotPlugin.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/ArduPilotPlugin.cc b/src/ArduPilotPlugin.cc
index e26123df..dee37c77 100755
--- a/src/ArduPilotPlugin.cc
+++ b/src/ArduPilotPlugin.cc
@@ -825,9 +825,8 @@ void ignition::gazebo::systems::ArduPilotPlugin::PostUpdate(
             double t = std::chrono::duration_cast<std::chrono::duration<double>>(_info.simTime).count();
             this->SendState(t, _ecm);
         }
+        this->dataPtr->lastControllerUpdateTime = _info.simTime;
     }
-
-    this->dataPtr->lastControllerUpdateTime = _info.simTime;
 }
 
 /////////////////////////////////////////////////