From 344a34bb725a65769a227157f41363fd5d180a14 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Wed, 23 Jul 2014 11:03:37 +0200
Subject: mavlink: MavlinkStream API updated

---
 src/modules/mavlink/mavlink_stream.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

(limited to 'src/modules/mavlink/mavlink_stream.cpp')

diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp
index 79dc23cc6..da3a55172 100644
--- a/src/modules/mavlink/mavlink_stream.cpp
+++ b/src/modules/mavlink/mavlink_stream.cpp
@@ -71,11 +71,12 @@ int
 MavlinkStream::update(const hrt_abstime t)
 {
 	uint64_t dt = t - _last_sent;
+	unsigned int interval = _interval * _mavlink->get_rate_mult();
 
-	if (dt > 0 && dt >= _interval) {
+	if (dt > 0 && dt >= interval) {
 		/* interval expired, send message */
 		send(t);
-		_last_sent = (t / _interval) * _interval;
+		_last_sent = t;
 
 		return 0;
 	}
-- 
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