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uORB::Subscription subscribe directly to uORB device node object

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This commit is contained in:
Daniel Agar
2019-05-18 11:47:17 -04:00
parent 2d1c60bc85
commit 2c63e335e9
37 changed files with 766 additions and 270 deletions
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src/examples/segway/blocks.hpp
+9 -9
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@@ -48,7 +48,7 @@
#include <controllib/blocks.hpp>
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionPollable.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
@@ -92,14 +92,14 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
uORB::Subscription<manual_control_setpoint_s> _manual;
uORB::Subscription<parameter_update_s> _param_update;
uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
uORB::Subscription<vehicle_attitude_s> _att;
uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
uORB::Subscription<vehicle_global_position_s> _pos;
uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
uORB::Subscription<vehicle_status_s> _status;
uORB::SubscriptionPollable<manual_control_setpoint_s> _manual;
uORB::SubscriptionPollable<parameter_update_s> _param_update;
uORB::SubscriptionPollable<position_setpoint_triplet_s> _missionCmd;
uORB::SubscriptionPollable<vehicle_attitude_s> _att;
uORB::SubscriptionPollable<vehicle_attitude_setpoint_s> _attCmd;
uORB::SubscriptionPollable<vehicle_global_position_s> _pos;
uORB::SubscriptionPollable<vehicle_rates_setpoint_s> _ratesCmd;
uORB::SubscriptionPollable<vehicle_status_s> _status;
// publications
uORB::Publication<actuator_controls_s> _actuators;