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mavlink move to new lightweight uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-03 17:06:21 -04:00
parent 2c63e335e9
commit 579cbbb42c
11 changed files with 97 additions and 330 deletions
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src/modules/mavlink/mavlink_mission.cpp
+2 -9
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@@ -73,15 +73,11 @@ uint16_t MavlinkMissionManager::_safepoint_update_counter = 0;
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_mavlink(mavlink)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
init_offboard_mission();
}
MavlinkMissionManager::~MavlinkMissionManager()
{
orb_unsubscribe(_mission_result_sub);
orb_unadvertise(_offboard_mission_pub);
}
@@ -489,12 +485,9 @@ MavlinkMissionManager::send(const hrt_abstime now)
return;
}
bool updated = false;
orb_check(_mission_result_sub, &updated);
mission_result_s mission_result{};
if (updated) {
mission_result_s mission_result;
orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result);
if (_mission_result_sub.update(&mission_result)) {
if (_current_seq != mission_result.seq_current) {
_current_seq = mission_result.seq_current;