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linux_pwm_out update orb usage

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This commit is contained in:
Daniel Agar
2019-11-30 15:52:53 -05:00
parent 2a6e889b28
commit 25acd40ef0
1 changed files with 5 additions and 23 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+5 -23
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@@ -42,6 +42,7 @@
#include <px4_platform_common/getopt.h> #include <px4_platform_common/getopt.h>
#include <px4_platform_common/posix.h> #include <px4_platform_common/posix.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
@@ -76,11 +77,10 @@ static char _mixer_filename[64] = "ROMFS/px4fmu_common/mixers/quad_x.main.mix";
// subscriptions // subscriptions
int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; int _controls_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
int _armed_sub = -1; uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
// publications // publications
orb_advert_t _outputs_pub = nullptr; uORB::PublicationMulti<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs)};
orb_advert_t _rc_pub = nullptr;
perf_counter_t _perf_control_latency = nullptr; perf_counter_t _perf_control_latency = nullptr;
@@ -207,9 +207,6 @@ void subscribe()
_poll_fds[_poll_fds_num].events = POLLIN; _poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++; _poll_fds_num++;
} }
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
} }
} }
@@ -272,12 +269,7 @@ void task_main(int argc, char *argv[])
while (!_task_should_exit) { while (!_task_should_exit) {
bool updated; _armed_sub.update(&_armed);
orb_check(_armed_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
if (_mixer_group) { if (_mixer_group) {
_mixer_group->set_airmode(airmode); _mixer_group->set_airmode(airmode);
@@ -395,12 +387,7 @@ void task_main(int argc, char *argv[])
_outputs.timestamp = hrt_absolute_time(); _outputs.timestamp = hrt_absolute_time();
if (_outputs_pub != nullptr) { _outputs_pub.publish(_outputs);
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
} else {
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
}
// use first valid timestamp_sample for latency tracking // use first valid timestamp_sample for latency tracking
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
@@ -437,11 +424,6 @@ void task_main(int argc, char *argv[])
} }
} }
if (_armed_sub != -1) {
orb_unsubscribe(_armed_sub);
_armed_sub = -1;
}
if (rc_channels_sub != -1) { if (rc_channels_sub != -1) {
orb_unsubscribe(rc_channels_sub); orb_unsubscribe(rc_channels_sub);
} }