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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/VtolLandDetector.cpp
+2 -10
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@@ -51,20 +51,12 @@ VtolLandDetector::VtolLandDetector()
_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
}
void VtolLandDetector::_initialize_topics()
{
MulticopterLandDetector::_initialize_topics();
_airspeedSub = orb_subscribe(ORB_ID(airspeed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
void VtolLandDetector::_update_topics()
{
MulticopterLandDetector::_update_topics();
_orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
_orb_update(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
_airspeedSub.update(&_airspeed);
_vehicle_status_sub.update(&_vehicle_status);
}
bool VtolLandDetector::_get_maybe_landed_state()