Mavlink set last sent timestamp to space out initial publication

- remove QURT defines no longer required

src/modules/mavlink/mavlink_stream.cpp

@@ -45,29 +45,16 @@
 #include "mavlink_main.h"
 
 MavlinkStream::MavlinkStream(Mavlink *mavlink) :
-	next(nullptr),
-	_mavlink(mavlink),
-	_interval(1000000),
-	_last_sent(0 /* 0 means unlimited - updates on every iteration */)
+	_mavlink(mavlink)
 {
-}
-
-MavlinkStream::~MavlinkStream() = default;
-
-/**
- * Set messages interval in ms
- */
-void
-MavlinkStream::set_interval(const int interval)
-{
-	_interval = interval;
+	_last_sent = hrt_absolute_time();
 }
 
 /**
  * Update subscriptions and send message if necessary
  */
 int
-MavlinkStream::update(const hrt_abstime t)
+MavlinkStream::update(const hrt_abstime &t)
 {
 	update_data();
 
@@ -77,12 +64,10 @@ MavlinkStream::update(const hrt_abstime t)
 		// this will give different messages on the same run a different
 		// initial timestamp which will help spacing them out
 		// on the link scheduling
-#ifndef __PX4_QURT
 		if (send(t)) {
 			_last_sent = hrt_absolute_time();
 		}
 
-#endif
 		return 0;
 	}
 
@@ -111,16 +96,12 @@ MavlinkStream::update(const hrt_abstime t)
 
 	if (interval == 0 || (dt > (interval - (_mavlink->get_main_loop_delay() / 10) * 3))) {
 		// interval expired, send message
-		bool sent = true;
-#ifndef __PX4_QURT
-		sent = send(t);
-#endif
 
 		// If the interval is non-zero and dt is smaller than 1.5 times the interval
 		// do not use the actual time but increment at a fixed rate, so that processing delays do not
 		// distort the average rate. The check of the maximum interval is done to ensure that after a
 		// long time not sending anything, sending multiple messages in a short time is avoided.
-		if (sent) {
+		if (send(t)) {
 			_last_sent = ((interval > 0) && ((int64_t)(1.5f * interval) > dt)) ? _last_sent + interval : t;
 			return 0;