mavlink: MavlinkStream API updated

2 files changed, 13 insertions, 5 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;
 	}
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 7d3afbbb5..646931c07 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -46,8 +46,6 @@
 class Mavlink;
 class MavlinkStream;
 
-#include "mavlink_main.h"
-
 class MavlinkStream
 {
 
@@ -70,7 +68,6 @@ public:
 	 * @return the inveral in microseconds (us) between messages
 	 */
 	unsigned get_interval() { return _interval; }
-	void set_channel(mavlink_channel_t channel);
 
 	/**
 	 * @return 0 if updated / sent, -1 if unchanged
@@ -82,6 +79,16 @@ public:
 	virtual const char *get_name() const = 0;
 	virtual uint8_t get_id() = 0;
 
+	/**
+	 * @return true if steam rate shouldn't be adjusted
+	 */
+	virtual bool const_rate() { return false; }
+
+	/**
+	 * Get maximal total messages size on update
+	 */
+	virtual unsigned get_size() = 0;
+
 protected:
 	Mavlink *    _mavlink;
 	unsigned int _interval;