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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/px4fmu/fmu.cpp
+8 -6
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@@ -177,7 +177,7 @@ private:
unsigned _current_update_rate{0};
uORB::Subscription _param_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
unsigned _num_outputs{0};
@@ -767,7 +767,13 @@ PX4FMU::Run()
update_pwm_out_state(pwm_on);
}
if (_param_sub.updated()) {
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
update_params();
}
@@ -783,16 +789,12 @@ PX4FMU::Run()
void PX4FMU::update_params()
{
parameter_update_s pupdate;
_param_sub.update(&pupdate);
update_pwm_rev_mask();
update_pwm_trims();
updateParams();
}
int
PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
{