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uavcan_main: use parameter_update to check for param updates

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this avoids calling param_get() on every loop iteration.
This commit is contained in:
Beat Küng
2018-03-23 10:35:08 +01:00
committed by Roman Bapst
parent 72d22c4297
commit 2b6ca2cf82
1 changed files with 23 additions and 10 deletions
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src/modules/uavcan/uavcan_main.cpp
+23 -10
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@@ -58,6 +58,7 @@
#include <arch/chip/chip.h> #include <arch/chip/chip.h>
#include <uORB/topics/esc_status.h> #include <uORB/topics/esc_status.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h> #include <drivers/drv_pwm_output.h>
@@ -419,16 +420,14 @@ int UavcanNode::get_param(int remote_node_id, const char *name)
void UavcanNode::update_params() void UavcanNode::update_params()
{ {
param_t param_handle; // multicopter air-mode
param_t param_handle = param_find("MC_AIRMODE");
// multicopter air-mode if (param_handle != PARAM_INVALID) {
param_handle = param_find("MC_AIRMODE"); int32_t val;
param_get(param_handle, &val);
if (param_handle != PARAM_INVALID) { _airmode = val > 0;
int val; }
param_get(param_handle, &val);
_airmode = val > 0;
}
} }
int UavcanNode::start_fw_server() int UavcanNode::start_fw_server()
@@ -828,9 +827,21 @@ int UavcanNode::run()
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub); _actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
} }
update_params();
int params_sub = orb_subscribe(ORB_ID(parameter_update));
while (!_task_should_exit) { while (!_task_should_exit) {
update_params(); /* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
update_params();
}
switch (_fw_server_action) { switch (_fw_server_action) {
case Start: case Start:
@@ -991,6 +1002,8 @@ int UavcanNode::run()
} }
} }
orb_unsubscribe(params_sub);
(void)::close(busevent_fd); (void)::close(busevent_fd);
teardown(); teardown();