Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.

src/modules/uORB/uORBDevices.cpp

@@ -148,8 +148,13 @@ uORB::DeviceNode::open(device::file_t *filp)
 			return -ENOMEM;
 		}
 
-		/* default to no pending update */
-		sd->generation = _generation;
+		/* If queue size >1, allow the subscriber to read the data in the queue. Otherwise, assume subscriber is up to date.*/
+		if (_queue_size <= 1) {
+			sd->generation = _generation;
+
+		} else {
+			sd->generation = _generation - (_queue_size < _generation ? _queue_size : _generation);
+		}
 
 		/* set priority */
 		sd->set_priority(_priority);