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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/navigator/geofence.h
+1 -1
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@@ -166,7 +166,7 @@ private:
(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
)
uORB::Subscription<vehicle_air_data_s> _sub_airdata;
uORB::SubscriptionData<vehicle_air_data_s> _sub_airdata;
int _outside_counter{0};
uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated
src/modules/navigator/mission_feasibility_checker.cpp
+1 -2
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@@ -450,8 +450,7 @@ MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission, bool
if (MissionBlock::item_contains_position(missionitem_previous)) {
uORB::Subscription<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
landing_status.forcedUpdate();
uORB::SubscriptionData<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
const bool landing_status_valid = (landing_status.get().timestamp > 0);
const float wp_distance = get_distance_to_next_waypoint(missionitem_previous.lat, missionitem_previous.lon,
src/modules/navigator/navigator.h
+1 -1
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@@ -341,7 +341,7 @@ private:
vehicle_local_position_s _local_pos{}; /**< local vehicle position */
vehicle_status_s _vstatus{}; /**< vehicle status */
uORB::Subscription<position_controller_status_s> _position_controller_status_sub{ORB_ID(position_controller_status)};
uORB::SubscriptionData<position_controller_status_s> _position_controller_status_sub{ORB_ID(position_controller_status)};
uint8_t _previous_nav_state{}; /**< nav_state of the previous iteration*/