fix: template_module update to best practise

Kconfig

@@ -220,6 +220,10 @@ menu "examples"
 source "src/examples/Kconfig"
 endmenu
 
+menu "templates"
+source "src/templates/Kconfig"
+endmenu
+
 menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX || PLATFORM_NUTTX
 source "platforms/Kconfig"

src/templates/Kconfig

@@ -0,0 +1 @@
+rsource "*/Kconfig"

src/templates/template_module/Kconfig

@@ -0,0 +1,5 @@
+menuconfig TEMPLATES_TEMPLATE_MODULE
+	bool "template_module"
+	default n
+	---help---
+		Enable support for template_module

src/templates/template_module/template_module.cpp

@@ -38,7 +38,6 @@
 #include <px4_platform_common/posix.h>
 
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_combined.h>
 
 ModuleBase::Descriptor TemplateModule::desc{task_spawn, custom_command, print_usage};
 
@@ -145,42 +144,20 @@ TemplateModule::TemplateModule(int example_param, bool example_flag)
 
 void TemplateModule::run()
 {
-	// Example: run the loop synchronized to the sensor_combined topic publication
-	int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
-
-	px4_pollfd_struct_t fds[1];
-	fds[0].fd = sensor_combined_sub;
-	fds[0].events = POLLIN;
-
 	// initialize parameters
 	parameters_update(true);
 
 	while (!should_exit()) {
 
-		// wait for up to 1000ms for data
+		if (_sensor_accel_sub.updated()) {
-		int pret = px4_poll(fds, (sizeof(fds) / sizeof(fds[0])), 1000);
+			sensor_accel_s accel{};
-
+			_sensor_accel_sub.copy(&accel);
-		if (pret == 0) {
-			// Timeout: let the loop run anyway, don't do `continue` here
-
-		} else if (pret < 0) {
-			// this is undesirable but not much we can do
-			PX4_ERR("poll error %d, %d", pret, errno);
-			px4_usleep(50000);
-			continue;
-
-		} else if (fds[0].revents & POLLIN) {
-
-			struct sensor_combined_s sensor_combined;
-			orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor_combined);
 			// TODO: do something with the data...
-
 		}
 
 		parameters_update();
+		px4_usleep(10_ms);
 	}
-
-	orb_unsubscribe(sensor_combined_sub);
 }
 
 void TemplateModule::parameters_update(bool force)

src/templates/template_module/template_module.h

@@ -35,8 +35,10 @@
 
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
+#include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_accel.h>
 
 using namespace time_literals;
 
@@ -89,5 +91,6 @@ private:
 
 	// Subscriptions
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::Subscription _sensor_accel_sub{ORB_ID(sensor_accel)};
 
 };