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/**
 * @file publisher_example.cpp
 * Example subscriber for ros and px4
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#include "publisher_example.h"

using namespace px4;

PublisherExample::PublisherExample() :
	_n(),
	_rc_channels_pub(PX4_ADVERTISE(_n, rc_channels))
{

}

int PublisherExample::main()
{
	px4::Rate loop_rate(10);

	while (px4::ok()) {
		PX4_TOPIC_T(rc_channels) msg;
		msg.timestamp_last_valid = px4::get_time_micros();
		PX4_INFO("%llu", msg.timestamp_last_valid);

		_rc_channels_pub->publish(msg);

		_n.spinOnce();
		loop_rate.sleep();
	}

	return 0;
}