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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/modules/commander/Commander.hpp
+8 -9
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@@ -62,8 +62,6 @@
#include <uORB/topics/vehicle_local_position.h>
using math::constrain;
using uORB::Publication;
using uORB::Subscription;
using namespace time_literals;
@@ -233,14 +231,15 @@ private:
bool _print_avoidance_msg_once{false};
// Subscriptions
Subscription<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
Subscription<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
Subscription<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
Subscription<sensor_bias_s> _sensor_bias_sub{ORB_ID(sensor_bias)};
Subscription<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
Subscription<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
uORB::SubscriptionData<estimator_status_s> _estimator_status_sub{ORB_ID(estimator_status)};
uORB::SubscriptionData<mission_result_s> _mission_result_sub{ORB_ID(mission_result)};
uORB::SubscriptionData<sensor_bias_s> _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::SubscriptionData<vehicle_global_position_s> _global_position_sub{ORB_ID(vehicle_global_position)};
uORB::SubscriptionData<vehicle_local_position_s> _local_position_sub{ORB_ID(vehicle_local_position)};
Publication<home_position_s> _home_pub{ORB_ID(home_position)};
// Publications
uORB::Publication<home_position_s> _home_pub{ORB_ID(home_position)};
orb_advert_t _status_pub{nullptr};
};