mavlink: stop unnecessarily passing around time

src/modules/mavlink/mavlink_ftp.cpp

@@ -956,7 +956,7 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
 	return (length > 0) ? -1 : 0;
 }
 
-void MavlinkFTP::send(const hrt_abstime t)
+void MavlinkFTP::send()
 {
 
 	if (_work_buffer1 || _work_buffer2) {

src/modules/mavlink/mavlink_ftp.h

@@ -63,7 +63,7 @@ public:
 	 * Handle sending of messages. Call this regularly at a fixed frequency.
 	 * @param t current time
 	 */
-	void send(const hrt_abstime t);
+	void send();
 
 	/// Handle possible FTP message
 	void handle_message(const mavlink_message_t *msg);

src/modules/mavlink/mavlink_log_handler.cpp

@@ -115,7 +115,7 @@ MavlinkLogHandler::handle_message(const mavlink_message_t *msg)
 
 //-------------------------------------------------------------------
 void
-MavlinkLogHandler::send(const hrt_abstime /*t*/)
+MavlinkLogHandler::send()
 {
 	//-- An arbitrary count of max bytes in one go (one of the two below but never both)
 #define MAX_BYTES_SEND 256 * 1024

src/modules/mavlink/mavlink_log_handler.h

@@ -60,7 +60,7 @@ public:
 	 * Handle sending of messages. Call this regularly at a fixed frequency.
 	 * @param t current time
 	 */
-	void send(const hrt_abstime t);
+	void send();
 
 	unsigned get_size();
 

src/modules/mavlink/mavlink_messages.cpp

@@ -437,7 +437,7 @@ protected:
 	explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		// always send the heartbeat, independent of the update status of the topics
 		vehicle_status_s status{};
@@ -499,7 +499,7 @@ protected:
 	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (!_mavlink->get_logbuffer()->empty() && _mavlink->is_connected()) {
 
@@ -591,7 +591,7 @@ protected:
 	explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		struct vehicle_command_s cmd;
 		bool sent = false;
@@ -662,7 +662,7 @@ protected:
 	{
 	}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_status_sub.updated() || _cpuload_sub.updated() || _battery_status_subs.updated()) {
 			vehicle_status_s status{};
@@ -766,7 +766,7 @@ protected:
 	{
 	}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		bool updated = false;
 
@@ -890,7 +890,7 @@ protected:
 	{
 	}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		bool updated = false;
 
@@ -977,7 +977,7 @@ protected:
 	explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		bool updated = false;
 
@@ -1098,7 +1098,7 @@ protected:
 	explicit MavlinkStreamScaledPressureBase(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
 			sensor_baro_s sensor_baro{};
@@ -1258,7 +1258,7 @@ protected:
 	explicit MavlinkStreamScaledIMU(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
 
@@ -1344,7 +1344,7 @@ protected:
 	explicit MavlinkStreamScaledIMU2(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
 
@@ -1429,7 +1429,7 @@ protected:
 	explicit MavlinkStreamScaledIMU3(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_raw_imu_sub.updated() || _raw_mag_sub.updated()) {
 
@@ -1517,7 +1517,7 @@ protected:
 	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_attitude_s att;
 
@@ -1593,7 +1593,7 @@ protected:
 	explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_attitude_s att;
 
@@ -1695,7 +1695,7 @@ protected:
 	explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_lpos_sub.updated() || _airspeed_validated_sub.updated()) {
 
@@ -1804,7 +1804,7 @@ protected:
 	explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		sensor_gps_s gps;
 
@@ -1880,7 +1880,7 @@ protected:
 	explicit MavlinkStreamGPS2Raw(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		sensor_gps_s gps;
 
@@ -1951,7 +1951,7 @@ protected:
 	explicit MavlinkStreamSystemTime(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		timespec tv;
 		px4_clock_gettime(CLOCK_REALTIME, &tv);
@@ -2013,7 +2013,7 @@ protected:
 	explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		mavlink_timesync_t msg{};
 
@@ -2075,7 +2075,7 @@ protected:
 	explicit MavlinkStreamADSBVehicle(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		transponder_report_s pos;
 		bool sent = false;
@@ -2175,7 +2175,7 @@ protected:
 	explicit MavlinkStreamUTMGlobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_global_position_s global_pos;
 
@@ -2342,7 +2342,7 @@ protected:
 	explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		collision_report_s report;
 		bool sent = false;
@@ -2415,7 +2415,7 @@ protected:
 	explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		camera_trigger_s trigger;
 
@@ -2520,7 +2520,7 @@ protected:
 	explicit MavlinkStreamCameraImageCaptured(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		camera_capture_s capture;
 
@@ -2599,7 +2599,7 @@ protected:
 	explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_global_position_s gpos;
 		vehicle_local_position_s lpos;
@@ -2707,7 +2707,7 @@ protected:
 	explicit MavlinkStreamOdometry(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_odometry_s odom;
 		// check if it is to send visual odometry loopback or not
@@ -2857,7 +2857,7 @@ protected:
 	explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_local_position_s lpos;
 
@@ -2925,7 +2925,7 @@ protected:
 	explicit MavlinkStreamEstimatorStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		estimator_status_s est;
 
@@ -3005,7 +3005,7 @@ protected:
 	explicit MavlinkStreamVibration(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_sensor_selection_sub.updated() || _vehicle_imu_status_subs.updated()) {
 
@@ -3113,7 +3113,7 @@ protected:
 	explicit MavlinkStreamAttPosMocap(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_odometry_s mocap;
 
@@ -3183,7 +3183,7 @@ protected:
 	explicit MavlinkStreamHomePosition(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		/* we're sending the GPS home periodically to ensure the
 		 * the GCS does pick it up at one point */
@@ -3275,7 +3275,7 @@ protected:
 	explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		actuator_outputs_s act;
 
@@ -3394,7 +3394,7 @@ protected:
 		delete _act_ctrl_sub;
 	}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		actuator_controls_s act_ctrl;
 
@@ -3462,7 +3462,7 @@ protected:
 	explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		actuator_outputs_s act;
 
@@ -3620,7 +3620,7 @@ protected:
 	explicit MavlinkStreamPositionTargetGlobalInt(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_control_mode_s control_mode{};
 		_control_mode_sub.copy(&control_mode);
@@ -3714,7 +3714,7 @@ protected:
 	explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_local_position_setpoint_s pos_sp;
 
@@ -3790,7 +3790,7 @@ protected:
 	explicit MavlinkStreamAttitudeTarget(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_attitude_setpoint_s att_sp;
 
@@ -3864,7 +3864,7 @@ protected:
 	explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		input_rc_s rc;
 
@@ -3950,7 +3950,7 @@ protected:
 	explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		manual_control_setpoint_s manual_control_setpoint;
 
@@ -4028,7 +4028,7 @@ protected:
 	explicit MavlinkStreamTrajectoryRepresentationWaypoints(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_trajectory_waypoint_s traj_wp_avoidance_desired;
 
@@ -4132,7 +4132,7 @@ protected:
 	explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		optical_flow_s flow;
 
@@ -4206,7 +4206,7 @@ protected:
 	explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		debug_key_value_s debug;
 
@@ -4272,7 +4272,7 @@ protected:
 	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		debug_value_s debug;
 
@@ -4335,7 +4335,7 @@ protected:
 	explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		debug_vect_s debug;
 
@@ -4403,7 +4403,7 @@ protected:
 	explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		debug_array_s debug;
 
@@ -4475,7 +4475,7 @@ protected:
 	explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_pos_ctrl_status_sub.updated()) {
 
@@ -4549,7 +4549,7 @@ protected:
 	explicit MavlinkStreamCameraCapture(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		vehicle_status_s status;
 
@@ -4620,7 +4620,7 @@ protected:
 	explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		bool updated = false;
 
@@ -4713,7 +4713,7 @@ protected:
 	explicit MavlinkStreamAltitude(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		mavlink_altitude_t msg{};
 
@@ -4830,7 +4830,7 @@ protected:
 	explicit MavlinkStreamWind(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		wind_estimate_s wind_estimate;
 
@@ -4907,7 +4907,7 @@ protected:
 	explicit MavlinkStreamMountOrientation(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		mount_orientation_s mount_orientation;
 
@@ -4979,7 +4979,7 @@ protected:
 	explicit MavlinkStreamGroundTruth(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		if (_angular_velocity_sub.updated() || _att_sub.updated() || _gpos_sub.updated() || _lpos_sub.updated()) {
 			vehicle_attitude_s att{};
@@ -5078,7 +5078,7 @@ protected:
 		_sequence(0)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		mavlink_ping_t msg = {};
 
@@ -5137,7 +5137,7 @@ protected:
 	explicit MavlinkStreamOrbitStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		orbit_status_s _orbit_status;
 
@@ -5203,7 +5203,7 @@ protected:
 	explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		obstacle_distance_s obstacle_distance;
 

src/modules/mavlink/mavlink_mission.cpp

@@ -460,7 +460,7 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
 }
 
 void
-MavlinkMissionManager::send(const hrt_abstime now)
+MavlinkMissionManager::send()
 {
 	// do not send anything over high latency communication
 	if (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_IRIDIUM) {
@@ -501,7 +501,7 @@ MavlinkMissionManager::send(const hrt_abstime now)
 		}
 
 	} else {
-		if (_slow_rate_limiter.check(now)) {
+		if (_slow_rate_limiter.check(hrt_absolute_time())) {
 			send_mission_current(_current_seq);
 
 			// send the reached message another 10 times

src/modules/mavlink/mavlink_mission.h

@@ -85,7 +85,7 @@ public:
 	 * Handle sending of messages. Call this regularly at a fixed frequency.
 	 * @param t current time
 	 */
-	void send(const hrt_abstime t);
+	void send();
 
 	void handle_message(const mavlink_message_t *msg);
 

src/modules/mavlink/mavlink_parameters.cpp

@@ -275,7 +275,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 }
 
 void
-MavlinkParametersManager::send(const hrt_abstime t)
+MavlinkParametersManager::send()
 {
 	int max_num_to_send;
 

src/modules/mavlink/mavlink_parameters.h

@@ -65,7 +65,7 @@ public:
 	 * Handle sending of messages. Call this regularly at a fixed frequency.
 	 * @param t current time
 	 */
-	void send(const hrt_abstime t);
+	void send();
 
 	unsigned get_size();
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -2997,15 +2997,15 @@ MavlinkReceiver::Run()
 
 		if (t - last_send_update > timeout * 1000) {
 			_mission_manager.check_active_mission();
-			_mission_manager.send(t);
+			_mission_manager.send();
 
-			_parameters_manager.send(t);
+			_parameters_manager.send();
 
 			if (_mavlink->ftp_enabled()) {
-				_mavlink_ftp.send(t);
+				_mavlink_ftp.send();
 			}
 
-			_mavlink_log_handler.send(t);
+			_mavlink_log_handler.send();
 			last_send_update = t;
 		}
 

src/modules/mavlink/mavlink_stream.cpp

@@ -64,7 +64,7 @@ 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
-		if (send(t)) {
+		if (send()) {
 			_last_sent = hrt_absolute_time();
 
 			if (!_first_message_sent) {
@@ -112,7 +112,7 @@ MavlinkStream::update(const hrt_abstime &t)
 		// 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 (send(t)) {
+		if (send()) {
 			_last_sent = ((interval > 0) && ((int64_t)(1.5f * interval) > dt)) ? _last_sent + interval : t;
 
 			if (!_first_message_sent) {

src/modules/mavlink/mavlink_stream.h

@@ -98,7 +98,7 @@ public:
 	virtual bool request_message(float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
 				     float param5 = 0.0, float param6 = 0.0, float param7 = 0.0)
 	{
-		return send(hrt_absolute_time());
+		return send();
 	}
 
 	/**
@@ -126,7 +126,7 @@ protected:
 	Mavlink      *const _mavlink;
 	int _interval{1000000};		///< if set to negative value = unlimited rate
 
-	virtual bool send(const hrt_abstime t) = 0;
+	virtual bool send() = 0;
 
 	/**
 	 * Function to collect/update data for the streams at a high rate independant of

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp

@@ -619,8 +619,7 @@ bool MavlinkFtpTest::_burst_test()
 		_ftp_server->handle_message(&msg);
 
 		// First packet is sent using stream mechanism, so we need to force it out ourselves
-		hrt_abstime t = 0;
-		_ftp_server->send(t);
+		_ftp_server->send();
 
 		ut_compare("Incorrect sequence of messages", burst_info.burst_state, burst_state_complete);
 
@@ -876,7 +875,6 @@ void MavlinkFtpTest::receive_message_handler_burst(const mavlink_file_transfer_p
 bool MavlinkFtpTest::_receive_message_handler_burst(const mavlink_file_transfer_protocol_t *ftp_msg,
 		BurstInfo *burst_info)
 {
-	hrt_abstime t = 0;
 	const MavlinkFTP::PayloadHeader *reply{nullptr};
 	uint32_t full_packet_bytes = MAVLINK_MSG_FILE_TRANSFER_PROTOCOL_FIELD_PAYLOAD_LEN - sizeof(MavlinkFTP::PayloadHeader);
 	uint32_t expected_bytes;
@@ -897,7 +895,7 @@ bool MavlinkFtpTest::_receive_message_handler_burst(const mavlink_file_transfer_
 		burst_info->burst_state = burst_info->single_packet_file ? burst_state_nak_eof : burst_state_last_ack;
 
 		ut_assert("Remaining stream packets missing", _ftp_server->get_size());
-		_ftp_server->send(t);
+		_ftp_server->send();
 		break;
 
 	case burst_state_last_ack:
@@ -913,7 +911,7 @@ bool MavlinkFtpTest::_receive_message_handler_burst(const mavlink_file_transfer_
 		burst_info->burst_state = burst_state_nak_eof;
 
 		ut_assert("Remaining stream packets missing", _ftp_server->get_size());
-		_ftp_server->send(t);
+		_ftp_server->send();
 		break;
 
 	case burst_state_nak_eof:

src/modules/mavlink/streams/AUTOPILOT_VERSION.hpp

@@ -53,7 +53,7 @@ public:
 private:
 	explicit MavlinkStreamAutopilotVersion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		return _mavlink->send_autopilot_capabilities();
 	}

src/modules/mavlink/streams/ESC_INFO.hpp

@@ -59,7 +59,7 @@ private:
 	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
 	uint8_t _number_of_batches{0};
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		static constexpr uint8_t batch_size = MAVLINK_MSG_ESC_INFO_FIELD_TEMPERATURE_LEN;
 		esc_status_s esc_status;

src/modules/mavlink/streams/ESC_STATUS.hpp

@@ -59,7 +59,7 @@ private:
 	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
 	uint8_t _number_of_batches{0};
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		static constexpr uint8_t batch_size = MAVLINK_MSG_ESC_STATUS_FIELD_RPM_LEN;
 		esc_status_s esc_status;

src/modules/mavlink/streams/EXTENDED_SYS_STATE.hpp

@@ -63,7 +63,7 @@ private:
 	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
 	mavlink_extended_sys_state_t _msg{};
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		bool updated = false;
 

src/modules/mavlink/streams/FLIGHT_INFORMATION.hpp

@@ -61,7 +61,7 @@ private:
 	uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
 	param_t _param_com_flight_uuid;
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		actuator_armed_s actuator_armed{};
 		bool ret = _armed_sub.copy(&actuator_armed);

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -97,8 +97,10 @@ private:
 		bool connected{false};
 	};
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
+		const hrt_abstime t = hrt_absolute_time();
+
 		// only send the struct if transmitting is allowed
 		// this assures that the stream timer is only reset when actually a message is transmitted
 		if (_mavlink->should_transmit()) {

src/modules/mavlink/streams/PROTOCOL_VERSION.hpp

@@ -53,7 +53,7 @@ public:
 private:
 	explicit MavlinkStreamProtocolVersion(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		_mavlink->send_protocol_version();
 		return true;

src/modules/mavlink/streams/RAW_RPM.hpp

@@ -57,7 +57,7 @@ private:
 
 	uORB::Subscription _rpm_sub{ORB_ID(rpm)};
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		rpm_s rpm;
 

src/modules/mavlink/streams/STORAGE_INFORMATION.hpp

@@ -63,14 +63,14 @@ public:
 			     float param5, float param6, float param7) override
 	{
 		_storage_id = (int)roundf(param2);
-		return send(hrt_absolute_time());
+		return send();
 	}
 private:
 	explicit MavlinkStreamStorageInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
 
 	int _storage_id{0};
 
-	bool send(const hrt_abstime t) override
+	bool send() override
 	{
 		mavlink_storage_information_t storage_info{};
 		const char *microsd_dir = PX4_STORAGEDIR;
@@ -103,7 +103,7 @@ private:
 			return false; // results in MAV_RESULT_DENIED
 		}
 
-		storage_info.time_boot_ms = t / 1000;
+		storage_info.time_boot_ms = hrt_absolute_time() / 1000;
 		mavlink_msg_storage_information_send_struct(_mavlink->get_channel(), &storage_info);
 		return true;
 	}