fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 00:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

uORB::Publication simplify and cleanup

Browse Source 
- base class is now template
 - drop linked list
 - virtualization no longer required
This commit is contained in:
Daniel Agar
2019-06-12 08:48:19 -04:00
committed by GitHub
parent 57fc6eb4b8
commit 79d4c09d59
26 changed files with 128 additions and 420 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
-8
View File
@@ -47,14 +47,6 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
_sub_sonar(nullptr),
_sub_landing_target_pose(ORB_ID(landing_target_pose), 1000 / 40, 0, &getSubscriptions()),
_sub_airdata(ORB_ID(vehicle_air_data), 0, 0, &getSubscriptions()),
// publications
_pub_lpos(ORB_ID(vehicle_local_position), -1, &getPublications()),
_pub_gpos(ORB_ID(vehicle_global_position), -1, &getPublications()),
_pub_odom(ORB_ID(vehicle_odometry), -1, &getPublications()),
_pub_est_status(ORB_ID(estimator_status), -1, &getPublications()),
_pub_innov(ORB_ID(ekf2_innovations), -1, &getPublications()),
// map projection
_map_ref(),
src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+5 -5
View File
@@ -266,11 +266,11 @@ private:
uORB::SubscriptionPollable<vehicle_air_data_s> _sub_airdata;
// publications
uORB::Publication<vehicle_local_position_s> _pub_lpos;
uORB::Publication<vehicle_global_position_s> _pub_gpos;
uORB::Publication<vehicle_odometry_s> _pub_odom;
uORB::Publication<estimator_status_s> _pub_est_status;
uORB::Publication<ekf2_innovations_s> _pub_innov;
uORB::PublicationData<vehicle_local_position_s> _pub_lpos{ORB_ID(vehicle_local_position)};
uORB::PublicationData<vehicle_global_position_s> _pub_gpos{ORB_ID(vehicle_global_position)};
uORB::PublicationData<vehicle_odometry_s> _pub_odom{ORB_ID(vehicle_odometry)};
uORB::PublicationData<estimator_status_s> _pub_est_status{ORB_ID(estimator_status)};
uORB::PublicationData<ekf2_innovations_s> _pub_innov{ORB_ID(ekf2_innovations)};
// map projection
struct map_projection_reference_s _map_ref;