fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 06:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: bugs fixed

Browse Source
This commit is contained in:
Anton Babushkin
2014-07-23 17:36:10 +02:00
parent d70b21c51a
commit 7ecf66c06d
3 changed files with 23 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_stream.cpp
+11 -2
View File
@@ -71,12 +71,21 @@ int
MavlinkStream::update(const hrt_abstime t)
{
uint64_t dt = t - _last_sent;
unsigned int interval = _interval * _mavlink->get_rate_mult();
unsigned int interval = _interval;
if (!const_rate()) {
interval /= _mavlink->get_rate_mult();
}
if (dt > 0 && dt >= interval) {
/* interval expired, send message */
send(t);
_last_sent = t;
if (const_rate()) {
_last_sent = (t / _interval) * _interval;
} else {
_last_sent = t;
}
return 0;
}