Subsystem_info status flags & checks : Initial commit, updating the health flags in a centralized way mostly in commander and the votedSensorsUpdate function.

src/lib/drivers/airspeed/airspeed.cpp

@@ -54,20 +54,17 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/differential_pressure.h>
-#include <uORB/topics/subsystem_info.h>
 
 #include <drivers/airspeed/airspeed.h>
 
 Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
 	I2C("Airspeed", path, bus, address, 100000),
 	_sensor_ok(false),
-	_last_published_sensor_ok(true), /* initialize differently to force publication */
 	_measure_ticks(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(nullptr),
 	_airspeed_orb_class_instance(-1),
-	_subsys_pub(nullptr),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "aspd_read")),
@@ -248,33 +245,9 @@ Airspeed::stop()
 	work_cancel(HPWORK, &_work);
 }
 
-void
-Airspeed::update_status()
-{
-	if (_sensor_ok != _last_published_sensor_ok) {
-		/* notify about state change */
-		struct subsystem_info_s info = {};
-		info.present = true;
-		info.enabled = true;
-		info.ok = _sensor_ok;
-		info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE;
-
-		if (_subsys_pub != nullptr) {
-			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
-
-		} else {
-			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
-		}
-
-		_last_published_sensor_ok = _sensor_ok;
-	}
-}
-
 void
 Airspeed::cycle_trampoline(void *arg)
 {
 	Airspeed *dev = (Airspeed *)arg;
 	dev->cycle();
-
-	dev->update_status();
 }