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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/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+7 -4
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@@ -109,7 +109,7 @@ private:
int _sensors_sub = -1;
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _vision_odom_sub{ORB_ID(vehicle_visual_odometry)};
uORB::Subscription _mocap_odom_sub{ORB_ID(vehicle_mocap_odometry)};
@@ -437,10 +437,13 @@ void AttitudeEstimatorQ::task_main()
void AttitudeEstimatorQ::update_parameters(bool force)
{
if (_params_sub.updated()) {
parameter_update_s param_update;
_params_sub.copy(&param_update);
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters
param_get(_params_handles.w_acc, &_w_accel);
param_get(_params_handles.w_mag, &_w_mag);