fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 13:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

uORB::Publication improvements and cleanup (#14784)

Browse Source 
- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
This commit is contained in:
Daniel Agar
2020-05-04 11:09:30 -04:00
committed by GitHub
parent 8e2c52a31a
commit 466b5db36f
68 changed files with 218 additions and 381 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+1 -1
View File
@@ -39,7 +39,7 @@
#include <px4_platform_common/px4_config.h>
#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
src/modules/commander/Commander.hpp
-1
View File
@@ -46,7 +46,6 @@
// publications
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/test_motor.h>
src/modules/commander/accelerometer_calibration.cpp
+1 -1
View File
@@ -556,7 +556,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
if (device_id[cur_accel] != 0) {
// Get priority
int32_t prio;
ORB_PRIO prio = ORB_PRIO_UNINITIALIZED;
orb_priority(worker_data.subs[cur_accel], &prio);
if (prio > device_prio_max) {
src/modules/commander/gyro_calibration.cpp
+1 -1
View File
@@ -332,7 +332,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
if (worker_data.device_id[cur_gyro] != 0) {
// Get priority
int32_t prio;
ORB_PRIO prio = ORB_PRIO_UNINITIALIZED;
orb_priority(worker_data.gyro_sensor_sub[cur_gyro], &prio);
if (prio > device_prio_max) {
src/modules/commander/mag_calibration.cpp
+1 -1
View File
@@ -639,7 +639,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (device_ids[cur_mag] != 0) {
// Get priority
int32_t prio;
ORB_PRIO prio = ORB_PRIO_UNINITIALIZED;
orb_priority(worker_data.sub_mag[cur_mag], &prio);
if (prio > device_prio_max) {