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propagate uorb contants change through all modules/drivers

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Thomas Gubler
2015-01-28 16:31:41 +01:00
parent 01835a51a8
commit 2d124852c1
16 changed files with 376 additions and 376 deletions
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src/drivers/px4fmu/fmu.cpp
+8 -8
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@@ -142,11 +142,11 @@ private:
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _actuator_output_topic;
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
pwm_limit_t _pwm_limit;
@@ -514,7 +514,7 @@ PX4FMU::subscribe()
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
_poll_fds_num = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
@@ -591,7 +591,7 @@ PX4FMU::task_main()
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
@@ -618,7 +618,7 @@ PX4FMU::task_main()
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
@@ -751,7 +751,7 @@ PX4FMU::task_main()
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;