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sensors partially move to new uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-06 19:07:17 -04:00
parent 55c9786157
commit 528d2f61a0
3 changed files with 28 additions and 118 deletions
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src/modules/sensors/rc_update.cpp
+5 -44
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@@ -39,14 +39,8 @@
#include "rc_update.h"
#include <string.h>
#include <float.h>
#include <errno.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/input_rc.h>
using namespace sensors;
@@ -57,32 +51,6 @@ RCUpdate::RCUpdate(const Parameters &parameters)
_filter_yaw(50.0f, 10.f),
_filter_throttle(50.0f, 10.f)
{
memset(&_rc, 0, sizeof(_rc));
memset(&_rc_parameter_map, 0, sizeof(_rc_parameter_map));
memset(&_param_rc_values, 0, sizeof(_param_rc_values));
}
int RCUpdate::init()
{
_rc_sub = orb_subscribe(ORB_ID(input_rc));
if (_rc_sub < 0) {
return -errno;
}
_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
if (_rc_parameter_map_sub < 0) {
return -errno;
}
return 0;
}
void RCUpdate::deinit()
{
orb_unsubscribe(_rc_sub);
orb_unsubscribe(_rc_parameter_map_sub);
}
void RCUpdate::update_rc_functions()
@@ -134,11 +102,8 @@ void RCUpdate::update_rc_functions()
void
RCUpdate::rc_parameter_map_poll(ParameterHandles &parameter_handles, bool forced)
{
bool map_updated;
orb_check(_rc_parameter_map_sub, &map_updated);
if (map_updated) {
orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
if (_rc_parameter_map_sub.updated()) {
_rc_parameter_map_sub.copy(&_rc_parameter_map);
/* update parameter handles to which the RC channels are mapped */
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
@@ -253,14 +218,10 @@ RCUpdate::set_params_from_rc(const ParameterHandles &parameter_handles)
void
RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
{
bool rc_updated;
orb_check(_rc_sub, &rc_updated);
if (rc_updated) {
if (_rc_sub.updated()) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct input_rc_s rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
input_rc_s rc_input{};
_rc_sub.copy(&rc_input);
/* detect RC signal loss */
bool signal_lost;