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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/linux_pwm_out/linux_pwm_out.cpp
+8 -13
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@@ -42,7 +42,7 @@
#include <px4_getopt.h>
#include <px4_posix.h>
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -260,7 +260,7 @@ void task_main(int argc, char *argv[])
Mixer::Airmode airmode = Mixer::Airmode::disabled;
update_params(airmode);
int params_sub = orb_subscribe(ORB_ID(parameter_update));
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
int rc_channels_sub = -1;
@@ -418,16 +418,15 @@ void task_main(int argc, char *argv[])
_task_should_exit = true;
}
/* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
// check for parameter updates
if (parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
parameter_update_sub.copy(&pupdate);
if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
// update parameters from storage
update_params(airmode);
}
}
delete pwm_out;
@@ -447,10 +446,6 @@ void task_main(int argc, char *argv[])
orb_unsubscribe(rc_channels_sub);
}
if (params_sub != -1) {
orb_unsubscribe(params_sub);
}
perf_free(_perf_control_latency);
_is_running = false;