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mavlink: reduce calls to hrt_absolute_time

This commit is contained in:
Julian Oes 2021-06-16 10:45:39 +02:00 committed by Matthias Grob
parent 454aa611ae
commit 486a4b0118
1 changed files with 2 additions and 4 deletions
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6
src/modules/mavlink/mavlink_receiver.cpp
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@ -2035,8 +2035,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
// fill uORB message
input_rc_s rc{};
// metadata
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = hrt_absolute_time();
rc.timestamp = rc.timestamp_last_signal = hrt_absolute_time();
rc.rssi = input_rc_s::RSSI_MAX;
rc.rc_failsafe = false;
rc.rc_lost = false;
@ -2096,13 +2095,12 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
}
manual_control_input_s manual{};
manual.timestamp_sample = hrt_absolute_time();
manual.x = man.x / 1000.0f;
manual.y = man.y / 1000.0f;
manual.r = man.r / 1000.0f;
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_input_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
manual.timestamp = hrt_absolute_time();
manual.timestamp = manual.timestamp_sample = hrt_absolute_time();
_manual_control_input_pub.publish(manual);
}