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uORB::Publication improvements and cleanup (#14784)

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- 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
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src/modules/sensors/voted_sensors_update.cpp
+7 -5
View File
@@ -154,7 +154,7 @@ void VotedSensorsUpdate::parametersUpdate()
_gyro.enabled[driver_index] = (device_enabled == 1);
if (!_gyro.enabled[driver_index]) {
_gyro.priority[driver_index] = 0;
_gyro.priority[driver_index] = ORB_PRIO_UNINITIALIZED;
}
gyro_calibration_s gscale{};
@@ -250,7 +250,7 @@ void VotedSensorsUpdate::parametersUpdate()
_accel.enabled[driver_index] = (device_enabled == 1);
if (!_accel.enabled[driver_index]) {
_accel.priority[driver_index] = 0;
_accel.priority[driver_index] = ORB_PRIO_UNINITIALIZED;
}
accel_calibration_s ascale{};
@@ -387,7 +387,7 @@ void VotedSensorsUpdate::parametersUpdate()
// the mags that were published after the initial parameterUpdate
// would be given the priority even if disabled. Reset it to 0 in this case
if (!_mag.enabled[topic_instance]) {
_mag.priority[topic_instance] = 0;
_mag.priority[topic_instance] = ORB_PRIO_UNINITIALIZED;
}
mag_calibration_s mscale{};
@@ -702,14 +702,16 @@ bool VotedSensorsUpdate::checkFailover(SensorData &sensor, const char *sensor_na
((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " ERR DNST" : ""));
// reduce priority of failed sensor to the minimum
sensor.priority[failover_index] = 1;
sensor.priority[failover_index] = ORB_PRIO_MIN;
PX4_ERR("Sensor %s #%i failed. Reconfiguring sensor priorities.", sensor_name, failover_index);
int ctr_valid = 0;
for (uint8_t i = 0; i < sensor.subscription_count; i++) {
if (sensor.priority[i] > 1) { ctr_valid++; }
if (sensor.priority[i] > ORB_PRIO_MIN) {
ctr_valid++;
}
PX4_WARN("Remaining sensors after failover event %u: %s #%u priority: %u", failover_index, sensor_name, i,
sensor.priority[i]);
src/modules/sensors/voted_sensors_update.h
+1 -2
View File
@@ -54,7 +54,6 @@
#include <lib/mag_compensation/MagCompensation.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel_integrated.h>
#include <uORB/topics/sensor_combined.h>
@@ -156,7 +155,7 @@ private:
uORB::Subscription subscription[SENSOR_COUNT_MAX]; /**< raw sensor data subscription */
DataValidatorGroup voter{1};
unsigned int last_failover_count{0};
uint8_t priority[SENSOR_COUNT_MAX] {}; /**< sensor priority */
ORB_PRIO priority[SENSOR_COUNT_MAX] {}; /**< sensor priority */
uint8_t last_best_vote{0}; /**< index of the latest best vote */
uint8_t subscription_count{0};
bool enabled[SENSOR_COUNT_MAX] {true, true, true, true};