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uORB: fix for uORB communicator, only send most recent data for new subscription (#22893)

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Eric Katzfey 2024-03-21 17:54:43 -07:00 committed by GitHub
parent 5f6dc1c5d0
commit 82a1aa37db
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1 changed files with 4 additions and 1 deletions
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5
platforms/common/uORB/uORBDeviceNode.cpp
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@ -412,7 +412,10 @@ int16_t uORB::DeviceNode::process_add_subscription()
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
ch->send_message(_meta->o_name, _meta->o_size, _data);
// Only send the most recent data to initialize the remote end.
if (_data_valid) {
ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue)));
}
}
return PX4_OK;