fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 10:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support topic groups in MAVLink subscription handling

Browse Source
This commit is contained in:
Lorenz Meier
2015-01-26 09:49:30 +01:00
parent 2f7a9eaf65
commit cbe3783d5e
5 changed files with 18 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+3 -3
View File
@@ -904,20 +904,20 @@ Mavlink::send_statustext(unsigned char severity, const char *string)
mavlink_logbuffer_write(&_logbuffer, &logmsg);
}
MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic)
MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance)
{
/* check if already subscribed to this topic */
MavlinkOrbSubscription *sub;
LL_FOREACH(_subscriptions, sub) {
if (sub->get_topic() == topic) {
if (sub->get_topic() == topic && sub->get_instance() == instance) {
/* already subscribed */
return sub;
}
}
/* add new subscription */
MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic);
MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic, instance);
LL_APPEND(_subscriptions, sub_new);