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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/px4io/px4io.cpp
+8 -4
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@@ -256,7 +256,7 @@ private:
uORB::Subscription _t_actuator_controls_3{ORB_ID(actuator_controls_3)};; ///< actuator controls group 3 topic
uORB::Subscription _t_actuator_armed{ORB_ID(actuator_armed)}; ///< system armed control topic
uORB::Subscription _t_vehicle_control_mode{ORB_ID(vehicle_control_mode)}; ///< vehicle control mode topic
uORB::Subscription _t_param{ORB_ID(parameter_update)}; ///< parameter update topic
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< parameter update topic
uORB::Subscription _t_vehicle_command{ORB_ID(vehicle_command)}; ///< vehicle command topic
bool _param_update_force; ///< force a parameter update
@@ -997,10 +997,14 @@ PX4IO::task_main()
*
* XXX this may be a bit spammy
*/
if (_t_param.updated() || _param_update_force) {
_param_update_force = false;
// check for parameter updates
if (_parameter_update_sub.updated() || _param_update_force) {
// clear update
parameter_update_s pupdate;
_t_param.copy(&pupdate);
_parameter_update_sub.copy(&pupdate);
_param_update_force = false;
if (!_rc_handling_disabled) {
/* re-upload RC input config as it may have changed */