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correctly handle interval, call callback only when topic updated, add example for 2 topics

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This commit is contained in:
Thomas Gubler
2014-11-28 16:30:12 +01:00
parent a9c1e4ad61
commit 9abc8e26b7
3 changed files with 12 additions and 6 deletions
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src/examples/subscriber/subscriber.cpp
+6 -5
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@@ -36,10 +36,10 @@ void rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg)
{
PX4_INFO("I heard: [%llu]", msg.timestamp_last_valid);
}
// void rc_channels_callback(int i)
// {
// PX4_INFO("I heard: [%d]", i);
// }
void rc_channels_callback2(const PX4_TOPIC_T(rc_channels) &msg)
{
PX4_INFO("I heard2: [%llu]", msg.timestamp_last_valid);
}
namespace px4
{
bool task_should_exit = false;
@@ -81,7 +81,8 @@ PX4_MAIN_FUNCTION(subscriber)
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 1000);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000);
PX4_INFO("subscribed");
/**