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fw_pos_control_l1 move to new uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-06 20:00:02 -04:00
parent 528d2f61a0
commit 4bef573497
2 changed files with 38 additions and 115 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+12 -14
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@@ -152,16 +152,17 @@ private:
orb_advert_t _mavlink_log_pub{nullptr};
int _global_pos_sub{-1};
int _local_pos_sub{-1};
int _pos_sp_triplet_sub{-1};
int _control_mode_sub{-1}; ///< control mode subscription */
int _vehicle_attitude_sub{-1}; ///< vehicle attitude subscription */
int _vehicle_command_sub{-1}; ///< vehicle command subscription */
int _vehicle_status_sub{-1}; ///< vehicle status subscription */
int _vehicle_land_detected_sub{-1}; ///< vehicle land detected subscription */
int _params_sub{-1}; ///< notification of parameter updates */
int _manual_control_sub{-1}; ///< notification of manual control updates */
int _sensor_baro_sub{-1};
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription */
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates */
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription */
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; ///< vehicle command subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; ///< vehicle land detected subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; ///< vehicle status subscription */
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
@@ -172,7 +173,7 @@ private:
manual_control_setpoint_s _manual {}; ///< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */
vehicle_attitude_s _att {}; ///< vehicle attitude setpoint */
vehicle_attitude_s _att {}; ///< vehicle attitude setpoint */
vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint */
vehicle_command_s _vehicle_command {}; ///< vehicle commands */
vehicle_control_mode_s _control_mode {}; ///< control mode */
@@ -377,12 +378,9 @@ private:
// Update subscriptions
void airspeed_poll();
void control_update();
void manual_control_setpoint_poll();
void position_setpoint_triplet_poll();
void vehicle_attitude_poll();
void vehicle_command_poll();
void vehicle_control_mode_poll();
void vehicle_land_detected_poll();
void vehicle_status_poll();
void status_publish();