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simulator update orb usage

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This commit is contained in:
Daniel Agar
2019-11-30 15:52:53 -05:00
parent b418f937a3
commit c04713f4a8
3 changed files with 69 additions and 167 deletions
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src/modules/simulator/simulator.h
+15 -17
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@@ -53,6 +53,7 @@
#include <perf/perf_counter.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/battery_status.h>
@@ -219,12 +220,12 @@ private:
perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, "sim_network_interval")};
// uORB publisher handlers
orb_advert_t _battery_pub{nullptr};
orb_advert_t _differential_pressure_pub{nullptr};
orb_advert_t _dist_pub{nullptr};
orb_advert_t _flow_pub{nullptr};
orb_advert_t _irlock_report_pub{nullptr};
orb_advert_t _visual_odometry_pub{nullptr};
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::PublicationMulti<distance_sensor_s> _dist_pub{ORB_ID(battery_status)};
uORB::PublicationMulti<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
@@ -257,7 +258,7 @@ private:
void handle_message_vision_position_estimate(const mavlink_message_t *msg);
void parameters_update(bool force);
void poll_topics();
void poll_for_MAVLink_messages();
void request_hil_state_quaternion();
void send();
@@ -270,15 +271,15 @@ private:
static void *sending_trampoline(void *);
// uORB publisher handlers
orb_advert_t _vehicle_angular_velocity_pub{nullptr};
orb_advert_t _attitude_pub{nullptr};
orb_advert_t _gpos_pub{nullptr};
orb_advert_t _lpos_pub{nullptr};
orb_advert_t _rc_channels_pub{nullptr};
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
uORB::Publication<vehicle_global_position_s> _gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};
uORB::Publication<vehicle_local_position_s> _lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
uORB::Publication<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
// uORB subscription handlers
int _actuator_outputs_sub{-1};
int _vehicle_status_sub{-1};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
// hil map_ref data
struct map_projection_reference_s _hil_local_proj_ref {};
@@ -291,10 +292,7 @@ private:
uint64_t _hil_ref_timestamp{0};
// uORB data containers
input_rc_s _rc_input {};
manual_control_setpoint_s _manual {};
vehicle_attitude_s _attitude {};
vehicle_status_s _vehicle_status {};
vehicle_status_s _vehicle_status{};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval