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vehicle_command topic: use uorb queuing with length 3

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Just to make sure we don't lose any messages.
This commit is contained in:
Beat Küng
2016-09-07 14:24:09 +02:00
parent c1b73a068e
commit be4db3c5df
9 changed files with 29 additions and 19 deletions
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src/modules/commander/commander.cpp
+6 -6
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@@ -424,7 +424,7 @@ int commander_main(int argc, char *argv[])
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
} else {
@@ -453,7 +453,7 @@ int commander_main(int argc, char *argv[])
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
@@ -476,7 +476,7 @@ int commander_main(int argc, char *argv[])
cmd.param6 = NAN;
cmd.param7 = NAN;
orb_advert_t h = orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
@@ -538,8 +538,8 @@ int commander_main(int argc, char *argv[])
/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
// XXX inspect use of publication handle
(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(h);
return 0;
}
@@ -3665,7 +3665,7 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result,
orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
} else {
command_ack_pub = orb_advertise(ORB_ID(vehicle_command_ack), &command_ack);
command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
}
}