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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/tap_esc/tap_esc.cpp
+10 -10
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@@ -47,7 +47,7 @@
#include <lib/cdev/CDev.hpp>
#include <perf/perf_counter.h>
#include <px4_module_params.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>
@@ -114,7 +114,9 @@ private:
bool _is_armed = false;
int _armed_sub = -1;
int _test_motor_sub = -1;
int _params_sub = -1;
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
orb_advert_t _outputs_pub = nullptr;
actuator_outputs_s _outputs = {};
actuator_armed_s _armed = {};
@@ -191,7 +193,6 @@ TAP_ESC::~TAP_ESC()
orb_unsubscribe(_armed_sub);
orb_unsubscribe(_test_motor_sub);
orb_unsubscribe(_params_sub);
orb_unadvertise(_outputs_pub);
orb_unadvertise(_esc_feedback_pub);
@@ -336,7 +337,6 @@ int TAP_ESC::init()
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
return ret;
}
@@ -609,13 +609,13 @@ void TAP_ESC::cycle()
}
/* 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
updateParams();
}
}