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land_detector move orb subscriptions to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-04 18:10:21 -04:00
parent 2320088541
commit 53aa4130a8
10 changed files with 34 additions and 125 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+3 -10
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@@ -62,18 +62,11 @@ FixedwingLandDetector::FixedwingLandDetector()
_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
}
void FixedwingLandDetector::_initialize_topics()
{
_airspeedSub = orb_subscribe(ORB_ID(airspeed));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
}
void FixedwingLandDetector::_update_topics()
{
_orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
_orb_update(ORB_ID(sensor_bias), _sensor_bias_sub, &_sensors);
_orb_update(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
_airspeedSub.update(&_airspeed);
_sensor_bias_sub.update(&_sensors);
_local_pos_sub.update(&_local_pos);
}
void FixedwingLandDetector::_update_params()