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MavlinkOrbSubscription API reworked

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This commit is contained in:
Anton Babushkin
2014-06-11 14:00:44 +02:00
parent fb4bcf87ba
commit 342e08977a
6 changed files with 251 additions and 140 deletions
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8
src/modules/mavlink/mavlink_main.cpp
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@@ -1900,10 +1900,12 @@ Mavlink::task_main(int argc, char *argv[])
_task_running = true;
MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
uint64_t param_time = 0;
MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
uint64_t status_time = 0;
struct vehicle_status_s status;
status_sub->update(0, &status);
status_sub->update(&status_time, &status);
MavlinkCommandsStream commands_stream(this, _channel);
@@ -1960,12 +1962,12 @@ Mavlink::task_main(int argc, char *argv[])
hrt_abstime t = hrt_absolute_time();
if (param_sub->update(t, nullptr)) {
if (param_sub->update(&param_time, nullptr)) {
/* parameters updated */
mavlink_update_system();
}
if (status_sub->update(t, &status)) {
if (status_sub->update(&status_time, &status)) {
/* switch HIL mode if required */
set_hil_enabled(status.hil_state == HIL_STATE_ON);
}