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uORB::DeviceNode replace SubscriptionData with uORB::SubscriptionInterval

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This commit is contained in:
Daniel Agar
2020-08-18 20:48:30 -04:00
parent e325ca25bb
commit 372866a22b
5 changed files with 58 additions and 197 deletions
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src/lib/flight_tasks/tasks/Offboard/FlightTaskOffboard.cpp
+2 -5
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@@ -45,11 +45,6 @@ bool FlightTaskOffboard::updateInitialize()
{
bool ret = FlightTask::updateInitialize();
_sub_triplet_setpoint.update();
// require a valid triplet
ret = ret && _sub_triplet_setpoint.get().current.valid;
// require valid position / velocity in xy
return ret && PX4_ISFINITE(_position(0))
&& PX4_ISFINITE(_position(1))
@@ -73,6 +68,8 @@ bool FlightTaskOffboard::update()
// reset setpoint for every loop
_resetSetpoints();
_sub_triplet_setpoint.update();
if (!_sub_triplet_setpoint.get().current.valid) {
_setDefaultConstraints();
_position_setpoint = _position;