FMU: Tighter compile checks and correct use of unsubscribe

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
 	)

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);
+			DEVICE_DEBUG("unsubscribe from actuator_controls_%d", i);
-			::close(_control_subs[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);
+	orb_unsubscribe(_armed_sub);
-	::close(_param_sub);
+	orb_unsubscribe(_param_sub);
 
 	/* make sure servos are off */
 	up_pwm_servo_deinit();

src/drivers/px4fmu/px4fmu_params.c

@@ -31,17 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file px4fmu_params.c
- *
- * Parameters defined by the PX4FMU driver
- *
- * @author Lorenz Meier <lorenz@px4.io>
- */
-
-#include <nuttx/config.h>
-#include <systemlib/param/param.h>
-
 /**
  * Invert direction of aux output channel 1
  *