From 97ce9edcac88e47fd406702ca92cf99dfa3a7e04 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 18 Dec 2016 13:54:58 +0100 Subject: [PATCH] FMU: Tighter compile checks and correct use of unsubscribe --- src/drivers/px4fmu/CMakeLists.txt | 2 +- src/drivers/px4fmu/fmu.cpp | 13 +++++++------ src/drivers/px4fmu/px4fmu_params.c | 11 ----------- 3 files changed, 8 insertions(+), 18 deletions(-) diff --git a/src/drivers/px4fmu/CMakeLists.txt b/src/drivers/px4fmu/CMakeLists.txt index 473baa2331..576ba2ec51 100644 --- a/src/drivers/px4fmu/CMakeLists.txt +++ b/src/drivers/px4fmu/CMakeLists.txt @@ -35,9 +35,9 @@ px4_add_module( MAIN fmu STACK_MAIN 1200 COMPILE_FLAGS + -Weffc++ SRCS fmu.cpp - px4fmu_params.c DEPENDS platforms__common ) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index e8c820168a..2ddba3a2a9 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -316,6 +316,7 @@ PX4FMU::PX4FMU() : _pwm_alt_rate_channels(0), _current_update_rate(0), _work{}, + _vehicle_cmd_sub(-1), _armed_sub(-1), _param_sub(-1), _adc_sub(-1), @@ -730,13 +731,13 @@ PX4FMU::subscribe() for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (sub_groups & (1 << i)) { - PX4_DEBUG("subscribe to actuator_controls_%d", i); + DEVICE_DEBUG("subscribe to actuator_controls_%d", i); _control_subs[i] = orb_subscribe(_control_topics[i]); } if (unsub_groups & (1 << i)) { - PX4_DEBUG("unsubscribe from actuator_controls_%d", i); - ::close(_control_subs[i]); + DEVICE_DEBUG("unsubscribe from actuator_controls_%d", i); + orb_unsubscribe(_control_subs[i]); _control_subs[i] = -1; } @@ -1616,13 +1617,13 @@ void PX4FMU::work_stop() for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { - ::close(_control_subs[i]); + orb_unsubscribe(_control_subs[i]); _control_subs[i] = -1; } } - ::close(_armed_sub); - ::close(_param_sub); + orb_unsubscribe(_armed_sub); + orb_unsubscribe(_param_sub); /* make sure servos are off */ up_pwm_servo_deinit(); diff --git a/src/drivers/px4fmu/px4fmu_params.c b/src/drivers/px4fmu/px4fmu_params.c index 9d0b341a7a..121ef4ed6c 100644 --- a/src/drivers/px4fmu/px4fmu_params.c +++ b/src/drivers/px4fmu/px4fmu_params.c @@ -31,17 +31,6 @@ * ****************************************************************************/ -/** - * @file px4fmu_params.c - * - * Parameters defined by the PX4FMU driver - * - * @author Lorenz Meier - */ - -#include -#include - /** * Invert direction of aux output channel 1 *