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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-07-23 11:03:37 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-07-23 11:03:37 +0200 |
| commit | 344a34bb725a65769a227157f41363fd5d180a14 (patch) | |
| tree | b53b41b637567db4ba5f29c5ea0e5738686c99c5 /src/modules/mavlink/mavlink_stream.cpp | |
| parent | 4722b609ccfa35c438c1ef74caba2793c9e04225 (diff) | |
| download | px4-firmware-344a34bb725a65769a227157f41363fd5d180a14.tar.gz px4-firmware-344a34bb725a65769a227157f41363fd5d180a14.tar.bz2 px4-firmware-344a34bb725a65769a227157f41363fd5d180a14.zip | |
mavlink: MavlinkStream API updated
Diffstat (limited to 'src/modules/mavlink/mavlink_stream.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_stream.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp index 79dc23cc6..da3a55172 100644 --- a/src/modules/mavlink/mavlink_stream.cpp +++ b/src/modules/mavlink/mavlink_stream.cpp @@ -71,11 +71,12 @@ int MavlinkStream::update(const hrt_abstime t) { uint64_t dt = t - _last_sent; + unsigned int interval = _interval * _mavlink->get_rate_mult(); - if (dt > 0 && dt >= _interval) { + if (dt > 0 && dt >= interval) { /* interval expired, send message */ send(t); - _last_sent = (t / _interval) * _interval; + _last_sent = t; return 0; } |