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mavlink_orb_subscription: remove unneeded checks

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not needed anymore after the previous commit
This commit is contained in:
Beat Küng
2018-07-16 09:39:42 +02:00
committed by Lorenz Meier
parent 2fe5e7735a
commit 97fe5f928a
1 changed files with 2 additions and 19 deletions
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21
src/modules/mavlink/mavlink_orb_subscription.cpp
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@@ -119,21 +119,13 @@ MavlinkOrbSubscription::update(void *data)
bool
MavlinkOrbSubscription::update_if_changed(void *data)
{
bool prevpub = _published;
if (!is_published()) {
return false;
}
bool updated;
if (orb_check(_fd, &updated)) {
return false;
}
// If we didn't update and this topic did not change
// its publication status then nothing really changed
if (!updated && prevpub == _published) {
if (orb_check(_fd, &updated) || !updated) {
return false;
}
@@ -160,7 +152,7 @@ MavlinkOrbSubscription::is_published()
// We don't want to subscribe to anything that does not exist
// in order to save memory and file descriptors.
// However, for some topics like vehicle_command_ack, we want to subscribe
// from the beginning in order not to miss the first publish respective advertise.
// from the beginning in order not to miss or delay the first publish respective advertise.
if (!_subscribe_from_beginning && orb_exists(_topic, _instance)) {
return false;
}
@@ -176,15 +168,6 @@ MavlinkOrbSubscription::is_published()
_published = true;
}
// topic may have been last published before we subscribed
uint64_t time_topic = 0;
if (!_published && orb_stat(_fd, &time_topic) == PX4_OK) {
if (time_topic != 0) {
_published = true;
}
}
return _published;
}