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uORB::Subscription subscribe directly to uORB device node object

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This commit is contained in:
Daniel Agar
2019-06-03 17:06:21 -04:00
parent 2d1c60bc85
commit 2c63e335e9
37 changed files with 766 additions and 270 deletions
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src/drivers/md25/md25.hpp
+1 -1
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@@ -270,7 +270,7 @@ private:
struct pollfd _controlPoll;
/** actuator controls subscription */
uORB::Subscription<actuator_controls_s> _actuators;
uORB::SubscriptionData<actuator_controls_s> _actuators;
// local copy of data from i2c device
uint8_t _version;
src/drivers/roboclaw/RoboClaw.hpp
+2 -2
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@@ -45,7 +45,7 @@
#include <poll.h>
#include <stdio.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionPollable.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
@@ -169,7 +169,7 @@ private:
struct pollfd _controlPoll;
/** actuator controls subscription */
uORB::Subscription<actuator_controls_s> _actuators;
uORB::SubscriptionPollable<actuator_controls_s> _actuators;
// private data
float _motor1Position;