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parameter_update use uORB::Subscription consistently

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This commit is contained in:
Daniel Agar
2019-07-28 11:55:52 -04:00
parent bbb96cbd0c
commit c8e59c4e39
47 changed files with 274 additions and 259 deletions
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src/modules/ekf2/ekf2_main.cpp
+8 -5
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@@ -265,7 +265,7 @@ private:
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
uORB::Subscription _magnetometer_sub{ORB_ID(vehicle_magnetometer)};
uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
@@ -739,10 +739,13 @@ void Ekf2::run()
perf_begin(_perf_update_data);
if (_params_sub.updated()) {
// read from param to clear updated flag
parameter_update_s update;
_params_sub.copy(&update);
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
updateParams();
}