parameter_update use uORB::Subscription consistently

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -62,9 +62,13 @@ void FixedwingLandDetector::_update_topics()
 
 void FixedwingLandDetector::_update_params()
 {
-	parameter_update_s param_update;
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
-	if (_param_update_sub.update(&param_update)) {
+		// update parameters from storage
 		_update_params();
 	}
 }

src/modules/land_detector/FixedwingLandDetector.h

@@ -73,7 +73,7 @@ private:
 	static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;
 
 	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
-	uORB::Subscription _param_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 

src/modules/land_detector/LandDetector.cpp

@@ -151,10 +151,15 @@ void LandDetector::Run()
 
 void LandDetector::_check_params(const bool force)
 {
-	parameter_update_s param_update;
+	// check for parameter updates
+	if (_parameter_update_sub.updated() || force) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
-	if (_param_update_sub.update(&param_update) || force) {
+		// update parameters from storage
 		_update_params();
+
 		_update_total_flight_time();
 	}
 }

src/modules/land_detector/LandDetector.h

@@ -174,7 +174,7 @@ private:
 	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, "land_detector_cycle")};
 
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
-	uORB::Subscription _param_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(
 		ModuleParams,