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author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-27 13:54:55 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-27 13:54:55 +0400 |
commit | 141982a3ac21e7a0437f1d7692e4024daf873c21 (patch) | |
tree | 4df9e006c286ab776e12d1ae4e955ce43889a1e3 /src/modules/mavlink/mavlink_rate_limiter.cpp | |
parent | 18f72f8dd7a3bd4a9af00fe28afd29e0cc65e2e9 (diff) | |
download | px4-firmware-141982a3ac21e7a0437f1d7692e4024daf873c21.tar.gz px4-firmware-141982a3ac21e7a0437f1d7692e4024daf873c21.tar.bz2 px4-firmware-141982a3ac21e7a0437f1d7692e4024daf873c21.zip |
mavlink: minor refactoring and cleanup, rate limiter class implemented, new messages added
Diffstat (limited to 'src/modules/mavlink/mavlink_rate_limiter.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_rate_limiter.cpp | 38 |
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; +} |