mavlink_rate_limiter.h

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#ifndef MAVLINK_RATE_LIMITER_H_
#define MAVLINK_RATE_LIMITER_H_

#include <drivers/drv_hrt.h>


class MavlinkRateLimiter
{
private:
    hrt_abstime _last_sent{0};
    hrt_abstime _interval{1000000};

public:
    MavlinkRateLimiter() = default;
    MavlinkRateLimiter(unsigned int interval) : _interval(interval) {};

    ~MavlinkRateLimiter() = default;

    void set_interval(unsigned int interval) { _interval = interval; }

    bool check(const hrt_abstime &t);
};


#endif /* MAVLINK_RATE_LIMITER_H_ */