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Added uORB tiny pub/sub for usage without struct on stack.

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This commit is contained in:
James Goppert
2014-06-05 10:49:31 -04:00
parent 5624c1406a
commit c4ed97f3c1
9 changed files with 236 additions and 243 deletions
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src/modules/controllib/uorb/blocks.cpp
+9 -9
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@@ -82,16 +82,16 @@ void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
_missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20),
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
_att(ORB_ID(vehicle_attitude), 20, &getSubscriptions()),
_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, &getSubscriptions()),
_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, &getSubscriptions()),
_pos(ORB_ID(vehicle_global_position), 20, &getSubscriptions()),
_missionCmd(ORB_ID(position_setpoint_triplet), 20, &getSubscriptions()),
_manual(ORB_ID(manual_control_setpoint), 20, &getSubscriptions()),
_status(ORB_ID(vehicle_status), 20, &getSubscriptions()),
_param_update(ORB_ID(parameter_update), 1000, &getSubscriptions()), // limit to 1 Hz
// publications
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
_actuators(ORB_ID(actuator_controls_0), &getPublications())
{
}