fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 20:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

land_detector move orb subscriptions to uORB::Subscription

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/MulticopterLandDetector.h
+8 -8
View File
@@ -45,6 +45,7 @@
#include "LandDetector.h"
#include <parameters/param.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -68,7 +69,6 @@ public:
MulticopterLandDetector();
protected:
void _initialize_topics() override;
void _update_params() override;
void _update_topics() override;
@@ -124,13 +124,13 @@ private:
float low_thrust_threshold;
} _params{};
int _vehicleLocalPositionSub{ -1};
int _vehicleLocalPositionSetpointSub{ -1};
int _actuatorsSub{ -1};
int _attitudeSub{ -1};
int _sensor_bias_sub{ -1};
int _vehicle_control_mode_sub{ -1};
int _battery_sub{ -1};
uORB::Subscription _vehicleLocalPositionSub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicleLocalPositionSetpointSub{ORB_ID(vehicle_local_position_setpoint)};
uORB::Subscription _actuatorsSub{ORB_ID(actuator_controls_0)};
uORB::Subscription _attitudeSub{ORB_ID(vehicle_attitude)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _battery_sub{ORB_ID(battery_status)};
vehicle_local_position_s _vehicleLocalPosition {};
vehicle_local_position_setpoint_s _vehicleLocalPositionSetpoint {};