diff options
Diffstat (limited to 'src/examples/subscriber/subscriber_example.cpp')
| -rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index e6d63cab3..460a3267a 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -50,21 +50,24 @@ void rc_channels_callback_function(const PX4_TOPIC_T(rc_channels) &msg) { SubscriberExample::SubscriberExample() : _n(), _p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)), - _sub_interval(0), + _interval(0), _p_test_float(PX4_PARAM_INIT(SUB_TESTF)), _test_float(0.0f) { /* Read the parameter back as example */ - PX4_PARAM_GET(_p_sub_interv, &_sub_interval); - PX4_INFO("Param SUB_INTERV = %d", _sub_interval); + PX4_PARAM_GET(_p_sub_interv, &_interval); + PX4_INFO("Param SUB_INTERV = %d", _interval); PX4_PARAM_GET(_p_test_float, &_test_float); PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float); /* Do some subscriptions */ /* Function */ - PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _sub_interval); + PX4_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval); /* Class Method */ PX4_SUBSCRIBE(_n, rc_channels, SubscriberExample::rc_channels_callback, this, 1000); + /* No callback */ + _sub_rc_chan = PX4_SUBSCRIBE(_n, rc_channels, 500); + PX4_INFO("subscribed"); } @@ -72,5 +75,7 @@ SubscriberExample::SubscriberExample() : * This tutorial demonstrates simple receipt of messages over the PX4 middleware system. */ void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) { - PX4_INFO("Subscriber callback: [%llu]", msg.timestamp_last_valid); + PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]", + msg.timestamp_last_valid, + ((SubscriberPX4<PX4_TOPIC_T(rc_channels)> *)_sub_rc_chan)->timestamp_last_valid); } |