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fw_att_control move orb subscriptions to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-06 20:02:02 -04:00
parent 4bef573497
commit be02ad3514
2 changed files with 29 additions and 94 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+12 -12
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@@ -93,15 +93,18 @@ public:
private:
int _att_sub{-1}; /**< vehicle attitude */
int _att_sp_sub{-1}; /**< vehicle attitude setpoint */
int _rates_sp_sub{-1}; /**< vehicle rates setpoint */
int _battery_status_sub{-1}; /**< battery status subscription */
int _global_pos_sub{-1}; /**< global position subscription */
int _manual_sub{-1}; /**< notification of manual control updates */
int _params_sub{-1}; /**< notification of parameter updates */
int _vcontrol_mode_sub{-1}; /**< vehicle status subscription */
int _vehicle_land_detected_sub{-1}; /**< vehicle land detected subscription */
int _vehicle_status_sub{-1}; /**< vehicle status subscription */
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */
uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint */
uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::SubscriptionData<airspeed_s> _airspeed_sub{ORB_ID(airspeed)};
orb_advert_t _rate_sp_pub{nullptr}; /**< rate setpoint publication */
orb_advert_t _attitude_sp_pub{nullptr}; /**< attitude setpoint point */
@@ -122,8 +125,6 @@ private:
vehicle_rates_setpoint_s _rates_sp {}; /* attitude rates setpoint */
vehicle_status_s _vehicle_status {}; /**< vehicle status */
SubscriptionData<airspeed_s> _airspeed_sub;
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
@@ -294,7 +295,6 @@ private:
void vehicle_manual_poll();
void vehicle_attitude_setpoint_poll();
void vehicle_rates_setpoint_poll();
void global_pos_poll();
void vehicle_status_poll();
void vehicle_land_detected_poll();