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commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent cf2eb69d25
commit 6fda555cba
8 changed files with 42 additions and 28 deletions
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src/systemcmds/microbench/test_microbench_uorb.cpp
+7 -7
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@@ -52,7 +52,7 @@
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_fifo.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
namespace MicroBenchORB
{
@@ -105,7 +105,7 @@ private:
void reset();
vehicle_status_s status;
vehicle_status_flags_s status;
vehicle_local_position_s lpos;
sensor_gyro_s gyro;
sensor_gyro_fifo_s gyro_fifo;
@@ -146,7 +146,7 @@ ut_declare_test_c(test_microbench_uorb, MicroBenchORB)
bool MicroBenchORB::time_px4_uorb()
{
int fd_status = orb_subscribe(ORB_ID(vehicle_status));
int fd_status = orb_subscribe(ORB_ID(vehicle_status_flags));
int fd_lpos = orb_subscribe(ORB_ID(vehicle_local_position));
int fd_gyro = orb_subscribe(ORB_ID(sensor_gyro));
int fd_gyro_fifo = orb_subscribe(ORB_ID(sensor_gyro_fifo));
@@ -155,7 +155,7 @@ bool MicroBenchORB::time_px4_uorb()
bool updated = false;
PERF("orb_check vehicle_status", ret = orb_check(fd_status, &updated), 100);
PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 100);
PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status_flags), fd_status, &status), 100);
printf("\n");
@@ -198,9 +198,9 @@ bool MicroBenchORB::time_px4_uorb_direct()
{
bool ret = false;
uORB::Subscription vstatus{ORB_ID(vehicle_status)};
PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 100);
PERF("uORB::Subscription orb_copy vehicle_status", ret = vstatus.copy(&status), 100);
uORB::Subscription vehicle_status_flags{ORB_ID(vehicle_status_flags)};
PERF("uORB::Subscription orb_check vehicle_status", ret = vehicle_status_flags.updated(), 100);
PERF("uORB::Subscription orb_copy vehicle_status", ret = vehicle_status_flags.copy(&status), 100);
printf("\n");