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fw_pos_control_l1: update orb_publish to uORB::Publication<>

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This commit is contained in:
Daniel Agar
2019-09-02 11:30:30 -04:00
parent e83026f106
commit 7162000e80
2 changed files with 8 additions and 22 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -18
View File
@@ -531,12 +531,7 @@ FixedwingPositionControl::tecs_status_publish()
t.timestamp = hrt_absolute_time();
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
} else {
_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
}
_tecs_status_pub.publish(t);
}
void
@@ -560,12 +555,7 @@ FixedwingPositionControl::status_publish()
pos_ctrl_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_status), _pos_ctrl_status_pub, &pos_ctrl_status);
} else {
_pos_ctrl_status_pub = orb_advertise(ORB_ID(position_controller_status), &pos_ctrl_status);
}
_pos_ctrl_status_pub.publish(pos_ctrl_status);
}
void
@@ -581,12 +571,7 @@ FixedwingPositionControl::landing_status_publish()
pos_ctrl_landing_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_landing_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_landing_status), _pos_ctrl_landing_status_pub, &pos_ctrl_landing_status);
} else {
_pos_ctrl_landing_status_pub = orb_advertise(ORB_ID(position_controller_landing_status), &pos_ctrl_landing_status);
}
_pos_ctrl_landing_status_pub.publish(pos_ctrl_landing_status);
}
void
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+5 -4
View File
@@ -66,6 +66,7 @@
#include <px4_module_params.h>
#include <px4_posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed.h>
@@ -165,11 +166,11 @@ private:
uORB::SubscriptionData<vehicle_angular_velocity_s> _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
orb_advert_t _pos_ctrl_landing_status_pub{nullptr}; ///< landing status publication */
orb_advert_t _tecs_status_pub{nullptr}; ///< TECS status publication */
orb_id_t _attitude_setpoint_id{nullptr};
orb_id_t _attitude_setpoint_id{nullptr};
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication */
uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication */
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication */
manual_control_setpoint_s _manual {}; ///< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */