diff options
Diffstat (limited to 'src/examples/subscriber/subscriber_example.cpp')
| -rw-r--r-- | src/examples/subscriber/subscriber_example.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index 3c80561ca..1c8f4c62b 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -62,11 +62,13 @@ SubscriberExample::SubscriberExample() : /* Do some subscriptions */ /* Function */ - 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_SUBSCRIBE(_n, rc_channels, rc_channels_callback_function, _interval); + _n.subscribe<px4_rc_channels>(rc_channels_callback_function); + + // [> 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"); } @@ -78,5 +80,5 @@ SubscriberExample::SubscriberExample() : void SubscriberExample::rc_channels_callback(const PX4_TOPIC_T(rc_channels) &msg) { PX4_INFO("Subscriber callback: [%llu], value of _sub_rc_chan: [%llu]", msg.timestamp_last_valid, - _sub_rc_chan->get().timestamp_last_valid); + _sub_rc_chan->get().data().timestamp_last_valid); } |