I was investigating uORB messaging and saw that there are two ways to receive uORB messages. One is
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
Then there is simply calling
and in both cases the message is received (though the usage of the content of message is a little bit different).
Is there some difference in implementation between the two methods, or it doesn’t matter which is used?
Thanks for any help!