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battery: fix duplicate uORB publish and minor cleanup

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- run battery_status module on adc_report publications rather than a fixed schedule
This commit is contained in:
Daniel Agar
2020-10-05 11:01:58 -04:00
committed by GitHub
parent be28c4d309
commit 016ee6ea59
3 changed files with 37 additions and 52 deletions
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src/modules/battery_status/battery_status.cpp
+3 -4
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@@ -57,6 +57,7 @@
#include <lib/battery/battery.h>
#include <lib/conversion/rotation.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
@@ -101,7 +102,7 @@ private:
uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)}; /**< attitude controls sub */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _adc_report_sub{ORB_ID(adc_report)};
uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
static constexpr uint32_t SAMPLE_FREQUENCY_HZ = 100;
static constexpr uint32_t SAMPLE_INTERVAL_US = 1_s / SAMPLE_FREQUENCY_HZ;
@@ -280,9 +281,7 @@ BatteryStatus::task_spawn(int argc, char *argv[])
bool
BatteryStatus::init()
{
ScheduleOnInterval(SAMPLE_INTERVAL_US);
return true;
return _adc_report_sub.registerCallback();
}
int BatteryStatus::custom_command(int argc, char *argv[])