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improve param wrapper for ros, prepare for px4

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This commit is contained in:
Thomas Gubler
2014-12-03 14:43:03 +01:00
parent 6a99b04fb7
commit 1c79f0cef1
4 changed files with 25 additions and 6 deletions
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src/examples/subscriber/subscriber.cpp
+8 -4
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@@ -74,13 +74,17 @@ PX4_MAIN_FUNCTION(subscriber) {
*/
px4::NodeHandle n;
/* Define a parameter */
PX4_PARAM_INIT("SUB_INTERV", 100);
/* Define parameters */
px4_param_t p_sub_interv = PX4_PARAM_INIT("SUB_INTERV", 100);
px4_param_t p_test_float = PX4_PARAM_INIT("SUB_TESTF", 3.14f);
/* Read the parameter back for testing */
int32_t sub_interval;
PX4_PARAM_GET("SUB_INTERV", &sub_interval);
float test_float;
PX4_PARAM_GET(p_sub_interv, &sub_interval);
PX4_INFO("Param SUB_INTERV = %d", sub_interval);
PX4_PARAM_GET(p_test_float, &test_float);
PX4_INFO("Param SUB_TESTF = %f", (double)test_float);
/**
* The subscribe() call is how you tell ROS that you want to receive messages
@@ -97,7 +101,7 @@ PX4_MAIN_FUNCTION(subscriber) {
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, sub_interval);
PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000);
PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000);
PX4_INFO("subscribed");