mavlink: stop unnecessarily passing around time

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;
 	}