Log and project from external call instead of using callbacks

mavsdk_wrapper.cpp

@@ -167,6 +167,27 @@ static void updateProjection(double current_lat, double current_lon) {
     );
 }
 
+int updateLogAndProjection(void) {
+    std::ostringstream oss;
+    Telemetry::RawGps gps;
+
+    if(mavsdk_started) {
+        gps = telemetry->raw_gps ();
+        oss << (gps.timestamp_us - init_timestamp) / 1000 << ";"
+            << gps.latitude_deg << ";" << gps.longitude_deg << ";"
+            << gps.absolute_altitude_m << ";" << telemetry->position().relative_altitude_m << ";"
+            << telemetry->attitude_euler().yaw_deg << ";"
+            << gps.velocity_m_s << ";" << telemetry->fixedwing_metrics().climb_rate_m_s;
+        log(oss.str());
+
+        if (projected_destination.latitude != 0 || targeted_destination.latitude != 0) {
+            return updateProjection(gps.latitude_deg, gps.longitude_deg);
+        }
+    }
+
+    return 0;
+}
+
 // Connexion management functions
 
 int start(const char * ip, int port, const char * log_file, int timeout) {
@@ -219,19 +240,6 @@ int start(const char * ip, int port, const char * log_file, int timeout) {
     mavsdk_started = 1;
     log("timestamp (ms);latitude (°);longitude (°);AMSL (m);rel altitude (m);yaw (°);ground speed (m/s);climb rate (m/s)");
 
-    log("Subscribing to raw GPS...");
-    telemetry->subscribe_raw_gps([](Telemetry::RawGps gps) {
-        std::ostringstream oss;
-        oss << (gps.timestamp_us - init_timestamp) / 1000 << ";"
-            << gps.latitude_deg << ";" << gps.longitude_deg << ";"
-            << gps.absolute_altitude_m << ";" << telemetry->position().relative_altitude_m << ";"
-            << telemetry->attitude_euler().yaw_deg << ";"
-            << gps.velocity_m_s << ";" << telemetry->fixedwing_metrics().climb_rate_m_s;
-        log(oss.str());
-
-        if (projected_destination.latitude != 0 || targeted_destination.latitude != 0)
-            updateProjection(gps.latitude_deg, gps.longitude_deg);
-    });
     return 0;
 }