diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_orb_subscription.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_orb_subscription.cpp | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp index 734f0903a..315776e29 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.cpp +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -46,10 +46,11 @@ #include "mavlink_orb_subscription.h" -MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) : +MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic, int instance) : next(nullptr), _topic(topic), - _fd(orb_subscribe(_topic)), + _instance(instance), + _fd(orb_subscribe_multi(_topic, instance)), _published(false) { } @@ -65,6 +66,12 @@ MavlinkOrbSubscription::get_topic() const return _topic; } +int +MavlinkOrbSubscription::get_instance() const +{ + return _instance; +} + bool MavlinkOrbSubscription::update(uint64_t *time, void* data) { |