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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/fw_att_control/FixedwingAttitudeControl.cpp
+7 -6
View File
@@ -454,15 +454,16 @@ void FixedwingAttitudeControl::Run()
if (_att_sub.update(&_att)) {
/* only update parameters if they changed */
bool params_updated = _params_sub.updated();
// only update parameters if they changed
bool params_updated = _parameter_update_sub.updated();
// check for parameter updates
if (params_updated) {
/* read from param to clear updated flag */
parameter_update_s update;
_params_sub.copy(&update);
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
/* update parameters from storage */
// update parameters from storage
parameters_update();
}
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+1 -1
View File
@@ -101,7 +101,7 @@ private:
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */
uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint */
uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */