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author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-11 14:00:44 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-11 14:00:44 +0200 |
commit | 342e08977ae5bf49c5ba941866e44fddefca4cda (patch) | |
tree | 6f50d14687c441f14715cfa55b17599e46d9f5f9 /src/modules/mavlink/mavlink_main.cpp | |
parent | fb4bcf87ba036a2791f303deee8eeda4174bad61 (diff) | |
download | px4-firmware-342e08977ae5bf49c5ba941866e44fddefca4cda.tar.gz px4-firmware-342e08977ae5bf49c5ba941866e44fddefca4cda.tar.bz2 px4-firmware-342e08977ae5bf49c5ba941866e44fddefca4cda.zip |
MavlinkOrbSubscription API reworked
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 39610fdd8..046f45bd9 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1900,10 +1900,12 @@ Mavlink::task_main(int argc, char *argv[]) _task_running = true; MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update)); + uint64_t param_time = 0; MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status)); + uint64_t status_time = 0; struct vehicle_status_s status; - status_sub->update(0, &status); + status_sub->update(&status_time, &status); MavlinkCommandsStream commands_stream(this, _channel); @@ -1960,12 +1962,12 @@ Mavlink::task_main(int argc, char *argv[]) hrt_abstime t = hrt_absolute_time(); - if (param_sub->update(t, nullptr)) { + if (param_sub->update(¶m_time, nullptr)) { /* parameters updated */ mavlink_update_system(); } - if (status_sub->update(t, &status)) { + if (status_sub->update(&status_time, &status)) { /* switch HIL mode if required */ set_hil_enabled(status.hil_state == HIL_STATE_ON); } |