1 files changed, 51 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp
new file mode 100644
index 000000000..16407366e
--- /dev/null
+++ b/src/modules/mavlink/mavlink_stream.cpp
@@ -0,0 +1,51 @@
+/*
+ * mavlink_stream.cpp
+ *
+ *  Created on: 24.02.2014
+ *      Author: ton
+ */
+
+#include <stdlib.h>
+
+#include "mavlink_stream.h"
+#include "mavlink_main.h"
+
+MavlinkStream::MavlinkStream() : _interval(1000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
+{
+}
+
+MavlinkStream::~MavlinkStream()
+{
+}
+
+/**
+ * Set messages interval in ms
+ */
+void
+MavlinkStream::set_interval(const unsigned int interval)
+{
+	_interval = interval * 1000;
+}
+
+/**
+ * Set mavlink channel
+ */
+void
+MavlinkStream::set_channel(mavlink_channel_t channel)
+{
+	_channel = channel;
+}
+
+/**
+ * Update subscriptions and send message if necessary
+ */
+int
+MavlinkStream::update(const hrt_abstime t)
+{
+	uint64_t dt = t - _last_sent;
+	if (dt > 0 && dt >= _interval) {
+		/* interval expired, send message */
+		send(t);
+		_last_sent = (t / _interval) * _interval;
+	}
+}