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mavlink: Only send messages when we have updates for them.

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This commit is contained in:
Lorenz Meier
2014-03-16 13:48:33 +01:00
parent 717e1bd374
commit 3874bca208
4 changed files with 276 additions and 225 deletions
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src/modules/mavlink/mavlink_orb_subscription.cpp
+19 -2
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@@ -46,11 +46,15 @@
#include "mavlink_orb_subscription.h"
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) : _topic(topic), _last_check(0), next(nullptr)
MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
_fd(orb_subscribe(_topic)),
_published(false),
_topic(topic),
_last_check(0),
next(nullptr)
{
_data = malloc(topic->o_size);
memset(_data, 0, topic->o_size);
_fd = orb_subscribe(_topic);
}
MavlinkOrbSubscription::~MavlinkOrbSubscription()
@@ -87,3 +91,16 @@ MavlinkOrbSubscription::update(const hrt_abstime t)
return false;
}
bool
MavlinkOrbSubscription::is_published()
{
bool updated;
orb_check(_fd, &updated);
if (updated) {
_published = true;
}
return _published;
}