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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/sensors/voted_sensors_update.cpp
+6 -6
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@@ -152,9 +152,9 @@ void VotedSensorsUpdate::parameters_update()
_temperature_compensation.parameters_update(_hil_enabled);
/* gyro */
for (int topic_instance = 0; topic_instance < _gyro.subscription_count; ++topic_instance) {
for (uint8_t topic_instance = 0; topic_instance < _gyro.subscription_count; ++topic_instance) {
uORB::Subscription<sensor_gyro_s> report{ORB_ID(sensor_gyro), 0, (unsigned)topic_instance};
uORB::SubscriptionData<sensor_gyro_s> report{ORB_ID(sensor_gyro), topic_instance};
int temp = _temperature_compensation.set_sensor_id_gyro(report.get().device_id, topic_instance);
@@ -172,9 +172,9 @@ void VotedSensorsUpdate::parameters_update()
/* accel */
for (int topic_instance = 0; topic_instance < _accel.subscription_count; ++topic_instance) {
for (uint8_t topic_instance = 0; topic_instance < _accel.subscription_count; ++topic_instance) {
uORB::Subscription<sensor_accel_s> report{ORB_ID(sensor_accel), 0, (unsigned)topic_instance};
uORB::SubscriptionData<sensor_accel_s> report{ORB_ID(sensor_accel), topic_instance};
int temp = _temperature_compensation.set_sensor_id_accel(report.get().device_id, topic_instance);
@@ -192,9 +192,9 @@ void VotedSensorsUpdate::parameters_update()
/* baro */
for (int topic_instance = 0; topic_instance < _baro.subscription_count; ++topic_instance) {
for (uint8_t topic_instance = 0; topic_instance < _baro.subscription_count; ++topic_instance) {
uORB::Subscription<sensor_baro_s> report{ORB_ID(sensor_baro), 0, (unsigned)topic_instance};
uORB::SubscriptionData<sensor_baro_s> report{ORB_ID(sensor_baro), topic_instance};
int temp = _temperature_compensation.set_sensor_id_baro(report.get().device_id, topic_instance);