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EKF2: Use _distance_sensor_subs vector directly

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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2021-11-24 09:11:45 +01:00
committed by Beat Küng
parent b66270f8a8
commit 5dbbddb13f
2 changed files with 20 additions and 17 deletions
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src/modules/ekf2/EKF2.hpp
+2 -2
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@@ -249,7 +249,6 @@ private:
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
uORB::Subscription _distance_sensor_sub{ORB_ID(distance_sensor)};
uORB::Subscription _ev_odom_sub{ORB_ID(vehicle_visual_odometry)};
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
@@ -265,10 +264,11 @@ private:
uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub{this, ORB_ID(vehicle_imu)};
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
int _distance_sensor_selected{-1}; // because we can have several distance sensor instances with different orientations
unsigned _distance_sensor_last_generation{0};
bool _callback_registered{false};
bool _distance_sensor_selected{false}; // because we can have several distance sensor instances with different orientations
bool _armed{false};
bool _standby{false}; // standby arming state