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parameter_update use uORB::Subscription consistently

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This commit is contained in:
Daniel Agar
2019-09-29 10:49:03 -04:00
parent bbb96cbd0c
commit c8e59c4e39
47 changed files with 274 additions and 259 deletions
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src/drivers/heater/heater.cpp
+6 -2
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@@ -292,9 +292,13 @@ float Heater::temperature_setpoint(char *argv[])
void Heater::update_params(const bool force)
{
parameter_update_s param_update;
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
if (_params_sub.update(&param_update) || force) {
// update parameters from storage
ModuleParams::updateParams();
}
}
src/drivers/heater/heater.h
+1 -1
View File
@@ -174,7 +174,7 @@ private:
float _integrator_value = 0.0f;
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
float _proportional_value = 0.0f;