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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/uavcan/uavcan_main.cpp
+8 -9
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@@ -55,6 +55,7 @@
#include <arch/board/board.h>
#include <arch/chip/chip.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/parameter_update.h>
@@ -810,17 +811,17 @@ int UavcanNode::run()
update_params();
int params_sub = orb_subscribe(ORB_ID(parameter_update));
uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
while (!_task_should_exit) {
/* 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();
}
@@ -995,8 +996,6 @@ int UavcanNode::run()
}
}
orb_unsubscribe(params_sub);
(void)::close(busevent_fd);
teardown();