mavlink_orb_subscription.cpp

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/**
 * @file mavlink_orb_subscription.cpp
 * uORB subscription implementation.
 *
 */

#include "mavlink_orb_subscription.h"

bool
MavlinkOrbSubscription::is_published()
{
    const bool published = _sub.advertised();

    if (published) {
        return true;

    } else if (!published && _subscribe_from_beginning) {
        // For some topics like vehicle_command_ack, we want to subscribe
        // from the beginning in order not to miss or delay the first publish respective advertise.
        return _sub.subscribe();
    }

    return false;
}