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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/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+3 -3
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@@ -98,7 +98,7 @@ protected:
matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
uORB::SubscriptionPollable<home_position_s> *_sub_home_position{nullptr};
State _current_state{State::none};
float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
@@ -121,8 +121,8 @@ protected:
private:
matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
uORB::SubscriptionPollable<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
uORB::SubscriptionPollable<vehicle_status_s> *_sub_vehicle_status{nullptr};
matrix::Vector3f
_triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */