diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_orb_subscription.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_orb_subscription.cpp | 23 |
1 files changed, 9 insertions, 14 deletions
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp index 16044ef72..84ac11483 100644 --- a/src/modules/mavlink/mavlink_orb_subscription.cpp +++ b/src/modules/mavlink/mavlink_orb_subscription.cpp @@ -13,14 +13,13 @@ #include "mavlink_orb_subscription.h" -MavlinkOrbSubscription::MavlinkOrbSubscription(const struct orb_metadata *meta, size_t size) +MavlinkOrbSubscription::MavlinkOrbSubscription(const struct orb_metadata *topic, size_t size) { - this->meta = meta; + this->topic = topic; this->data = malloc(size); memset(this->data, 0, size); - this->fd = orb_subscribe(meta); + this->fd = orb_subscribe(topic); this->last_update = 0; - this->interval = 0; } MavlinkOrbSubscription::~MavlinkOrbSubscription() @@ -29,19 +28,15 @@ MavlinkOrbSubscription::~MavlinkOrbSubscription() free(data); } -int MavlinkOrbSubscription::set_interval(const unsigned int interval) -{ - this->interval = interval; - return orb_set_interval(fd, interval); -} - -int MavlinkOrbSubscription::update(const hrt_abstime t) +bool MavlinkOrbSubscription::update(const hrt_abstime t) { if (last_update != t) { bool updated; orb_check(fd, &updated); - if (updated) - return orb_copy(meta, fd, data); + if (updated) { + orb_copy(topic, fd, data); + return true; + } } - return OK; + return false; } |