fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 04:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator orb subscribe/unsubscribe in constructor/destructor

Browse Source
This commit is contained in:
Daniel Agar
2019-02-06 18:59:11 -05:00
parent 6a08c1b6f1
commit 26185f7c07
2 changed files with 31 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/navigator.h
+2 -1
View File
@@ -84,7 +84,8 @@ class Navigator : public ModuleBase<Navigator>, public ModuleParams
{
public:
Navigator();
virtual ~Navigator() = default;
~Navigator() override;
Navigator(const Navigator &) = delete;
Navigator operator=(const Navigator &) = delete;
src/modules/navigator/navigator_main.cpp
+29 -24
View File
@@ -113,6 +113,35 @@ Navigator::Navigator() :
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
// subscriptions
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_pos_ctrl_landing_status_sub = orb_subscribe(ORB_ID(position_controller_landing_status));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
_traffic_sub = orb_subscribe(ORB_ID(transponder_report));
reset_triplets();
}
Navigator::~Navigator()
{
orb_unsubscribe(_global_pos_sub);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_gps_pos_sub);
orb_unsubscribe(_pos_ctrl_landing_status_sub);
orb_unsubscribe(_vstatus_sub);
orb_unsubscribe(_land_detected_sub);
orb_unsubscribe(_home_pos_sub);
orb_unsubscribe(_offboard_mission_sub);
orb_unsubscribe(_param_update_sub);
orb_unsubscribe(_vehicle_command_sub);
}
void
@@ -189,19 +218,6 @@ Navigator::run()
_geofence.loadFromFile(GEOFENCE_FILENAME);
}
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_pos_ctrl_landing_status_sub = orb_subscribe(ORB_ID(position_controller_landing_status));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
_traffic_sub = orb_subscribe(ORB_ID(transponder_report));
/* copy all topics first time */
vehicle_status_update();
vehicle_land_detected_update();
@@ -777,17 +793,6 @@ Navigator::run()
perf_end(_loop_perf);
}
orb_unsubscribe(_global_pos_sub);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_gps_pos_sub);
orb_unsubscribe(_pos_ctrl_landing_status_sub);
orb_unsubscribe(_vstatus_sub);
orb_unsubscribe(_land_detected_sub);
orb_unsubscribe(_home_pos_sub);
orb_unsubscribe(_offboard_mission_sub);
orb_unsubscribe(_param_update_sub);
orb_unsubscribe(_vehicle_command_sub);
}
int Navigator::task_spawn(int argc, char *argv[])