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uavcan module cleanup

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- move most orb to uORB::Publication and uORB::Subscription
 - update legacy message handling (warn to PX4_INFO, PX4_WARN, PX4_ERR)
 - add perf counters
 - sensors/mag support newer `uavcan::equipment::ahrs::MagneticFieldStrength2` message
 - sensors/gps support `uavcan::equipment::gnss::Auxiliary` for hdop and vdop
 - sensors delete obsolete ioctl and read methods
 - use PublicationMulti for actuator_outputs and esc_reports (to coexist with other output modules)
 - add GNSS parameter metadata (parameters_injected.xml)
This commit is contained in:
Daniel Agar
2019-10-28 19:57:50 -04:00
committed by GitHub
parent 47dd312b57
commit 375fc4a75c
22 changed files with 705 additions and 677 deletions
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src/drivers/uavcan/sensors/sensor_bridge.cpp
+6 -5
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@@ -70,10 +70,9 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
delete [] _channels;
}
void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
void
UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
Channel *channel = nullptr;
// Checking if such channel already exists
@@ -141,7 +140,8 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
(void)orb_publish(_orb_topic, channel->orb_advert, report);
}
unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
unsigned
UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
unsigned out = 0;
@@ -154,7 +154,8 @@ unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
return out;
}
void UavcanCDevSensorBridgeBase::print_status() const
void
UavcanCDevSensorBridgeBase::print_status() const
{
printf("devname: %s\n", _class_devname);