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Removed all swapping of uORB instances

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This commit is contained in:
Timothy Scott
2020-02-21 22:38:26 -08:00
committed by Lorenz Meier
parent 6452b7e014
commit 4c1adc088f
5 changed files with 77 additions and 104 deletions
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src/modules/commander/Commander.hpp
+7 -2
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@@ -43,7 +43,6 @@
#include <lib/mathlib/mathlib.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <containers/Array.hpp>
// publications
#include <uORB/Publication.hpp>
@@ -375,13 +374,19 @@ private:
// Subscriptions
uORB::Subscription _actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
#if BOARD_NUMBER_BRICKS > 1
uORB::Subscription _battery_subs[ORB_MULTI_MAX_INSTANCES] {
uORB::Subscription(ORB_ID(battery_status), 0),
uORB::Subscription(ORB_ID(battery_status), 1),
uORB::Subscription(ORB_ID(battery_status), 2),
uORB::Subscription(ORB_ID(battery_status), 3),
};
uORB::Subscription _cmd_sub{ORB_ID(vehicle_command)};
#else
uORB::Subscription _battery_subs[1] {
uORB::Subscription(ORB_ID(battery_status), 0)
};
#endif
uORB::Subscription _cmd_sub {ORB_ID(vehicle_command)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)};