mavlink: minor refactoring and cleanup, rate limiter class implemented, new messages added

1 files changed, 38 insertions, 0 deletions

diff --git a/src/modules/mavlink/mavlink_rate_limiter.cpp b/src/modules/mavlink/mavlink_rate_limiter.cpp
new file mode 100644
index 000000000..f5bb06ccd
--- /dev/null
+++ b/src/modules/mavlink/mavlink_rate_limiter.cpp
@@ -0,0 +1,38 @@
+/*
+ * mavlink_rate_limiter.cpp
+ *
+ *  Created on: 26.02.2014
+ *      Author: ton
+ */
+
+
+#include "mavlink_rate_limiter.h"
+
+MavlinkRateLimiter::MavlinkRateLimiter() : _last_sent(0), _interval(1000000)
+{
+}
+
+MavlinkRateLimiter::MavlinkRateLimiter(unsigned int interval) : _last_sent(0), _interval(interval * 1000)
+{
+}
+
+MavlinkRateLimiter::~MavlinkRateLimiter()
+{
+}
+
+void
+MavlinkRateLimiter::set_interval(unsigned int interval)
+{
+	_interval = interval * 1000;
+}
+
+bool
+MavlinkRateLimiter::check(hrt_abstime t)
+{
+	uint64_t dt = t - _last_sent;
+	if (dt > 0 && dt >= _interval) {
+		_last_sent = (t / _interval) * _interval;
+		return true;
+	}
+	return false;
+}