Merge branch 'ros_messagelayer_merge' of github.com:PX4/Firmware into ros_messagelayer_merge

src/examples/subscriber/subscriber_example.cpp

@@ -81,5 +81,5 @@ void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
 	PX4_INFO("Callback (method): [%llu]",
 			msg.data().timestamp_last_valid);
 	PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]",
-			_sub_rc_chan->get().data().timestamp_last_valid);
+			_sub_rc_chan->data().timestamp_last_valid);
 }

src/platforms/px4_subscriber.h

@@ -84,7 +84,15 @@ public:
 	/**
 	 * Get the last message value
 	 */
-	virtual T get() {return _msg_current;}
+	virtual T& get() {return _msg_current;}
+
+	/**
+	 * Get the last native message value
+	 */
+	virtual decltype(((T*)nullptr)->data()) data()
+	{
+		return _msg_current.data();
+	}
 
 protected:
 	T _msg_current;				/**< Current Message value */