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mavlink: MavlinkStream API updated

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This commit is contained in:
Anton Babushkin
2014-07-23 11:03:37 +02:00
parent 4722b609cc
commit 344a34bb72
2 changed files with 13 additions and 5 deletions
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src/modules/mavlink/mavlink_stream.cpp
+3 -2
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@@ -71,11 +71,12 @@ int
MavlinkStream::update(const hrt_abstime t)
{
uint64_t dt = t - _last_sent;
unsigned int interval = _interval * _mavlink->get_rate_mult();
if (dt > 0 && dt >= _interval) {
if (dt > 0 && dt >= interval) {
/* interval expired, send message */
send(t);
_last_sent = (t / _interval) * _interval;
_last_sent = t;
return 0;
}