diff options
| -rw-r--r-- | src/modules/mavlink/mavlink_orb_subscription.cpp | 11 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_orb_subscription.h | 13 |
2 files changed, 14 insertions, 10 deletions
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp index 996318468..e8f9bb75b 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.cpp +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -78,12 +78,15 @@ MavlinkOrbSubscription::get_data() bool MavlinkOrbSubscription::update(const hrt_abstime t) { - if (_last_check != t) { + if (_last_check == t) { + /* already checked right now, return result of the check */ + return _updated; + + } else { _last_check = t; - bool updated; - orb_check(_fd, &updated); + orb_check(_fd, &_updated); - if (updated) { + if (_updated) { orb_copy(_topic, _fd, _data); return true; } diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h index 42d47e96e..8529721c0 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.h +++ b/src/modules/mavlink/mavlink_orb_subscription.h @@ -48,7 +48,7 @@ class MavlinkOrbSubscription { public: - MavlinkOrbSubscription *next; + MavlinkOrbSubscription *next; /*< pointer to next subscription in list */ MavlinkOrbSubscription(const orb_id_t topic); ~MavlinkOrbSubscription(); @@ -66,11 +66,12 @@ public: const orb_id_t get_topic(); private: - const orb_id_t _topic; - int _fd; - bool _published; - void *_data; - hrt_abstime _last_check; + const orb_id_t _topic; /*< topic metadata */ + int _fd; /*< subscription handle */ + bool _published; /*< topic was ever published */ + void *_data; /*< pointer to data buffer */ + hrt_abstime _last_check; /*< time of last check */ + bool _updated; /*< updated on last check */ }; |