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mavlink: stop unnecessarily passing around time

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This commit is contained in:
Daniel Agar
2020-10-09 10:30:30 -04:00
parent 97cf714c7a
commit f26d4f2b6b
22 changed files with 87 additions and 87 deletions
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src/modules/mavlink/mavlink_stream.cpp
+2 -2
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@@ -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) {