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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_pos_control_l1/FixedwingPositionControl.cpp
+6 -8
View File
@@ -1662,15 +1662,13 @@ FixedwingPositionControl::Run()
/* only run controller if position changed */
if (_global_pos_sub.update(&_global_pos)) {
/* only update parameters if they changed */
bool params_updated = _params_sub.updated();
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
if (params_updated) {
/* read from param to clear updated flag */
parameter_update_s update;
_params_sub.copy(&update);
/* update parameters from storage */
// update parameters from storage
parameters_update();
}
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
View File
@@ -156,7 +156,7 @@ private:
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription */
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _manual_control_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 _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)}; ///< vehicle attitude subscription */