From 486a4b0118cb480f6668b19fb3e50274a9433bf7 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Wed, 16 Jun 2021 10:45:39 +0200 Subject: [PATCH] mavlink: reduce calls to hrt_absolute_time --- src/modules/mavlink/mavlink_receiver.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 8ff8bcb767..5f101591c6 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -2035,8 +2035,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg) // fill uORB message input_rc_s rc{}; // metadata - rc.timestamp = hrt_absolute_time(); - rc.timestamp_last_signal = hrt_absolute_time(); + rc.timestamp = rc.timestamp_last_signal = hrt_absolute_time(); rc.rssi = input_rc_s::RSSI_MAX; rc.rc_failsafe = false; rc.rc_lost = false; @@ -2096,13 +2095,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) } manual_control_input_s manual{}; - manual.timestamp_sample = hrt_absolute_time(); manual.x = man.x / 1000.0f; manual.y = man.y / 1000.0f; manual.r = man.r / 1000.0f; manual.z = man.z / 1000.0f; manual.data_source = manual_control_input_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id(); - manual.timestamp = hrt_absolute_time(); + manual.timestamp = manual.timestamp_sample = hrt_absolute_time(); _manual_control_input_pub.publish(manual); }