parameter_update use uORB::Subscription consistently

src/modules/mavlink/mavlink_main.cpp

@@ -2141,9 +2141,9 @@ Mavlink::task_main(int argc, char *argv[])
 		pthread_mutex_init(&_message_buffer_mutex, nullptr);
 	}
 
+	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
+
 	MavlinkOrbSubscription *cmd_sub = add_orb_subscription(ORB_ID(vehicle_command), 0, true);
-	MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
-	uint64_t param_time = 0;
 	MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
 	uint64_t status_time = 0;
 	MavlinkOrbSubscription *ack_sub = add_orb_subscription(ORB_ID(vehicle_command_ack), 0, true);
@@ -2239,9 +2239,13 @@ Mavlink::task_main(int argc, char *argv[])
 
 		update_rate_mult();
 
-		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_sub->update(&param_time, &param_update)) {
+			// update parameters from storage
 			mavlink_update_parameters();
 
 #if defined(CONFIG_NET)
@@ -2250,7 +2254,7 @@ Mavlink::task_main(int argc, char *argv[])
 				_src_addr_initialized = false;
 			}
 
-#endif
+#endif // CONFIG_NET
 		}
 
 		check_radio_config();

src/modules/mavlink/mavlink_receiver.cpp

@@ -2569,9 +2569,15 @@ MavlinkReceiver::Run()
 	hrt_abstime last_send_update = 0;
 
 	while (!_mavlink->_task_should_exit) {
-		// Check for updated parameters.
-		if (_param_update_sub.updated()) {
-			update_params();
+
+		// 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();
 		}
 
 		if (poll(&fds[0], 1, timeout) > 0) {
@@ -2718,11 +2724,3 @@ MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
 
 	pthread_attr_destroy(&receiveloop_attr);
 }
-
-void
-MavlinkReceiver::update_params()
-{
-	parameter_update_s param_update;
-	_param_update_sub.update(&param_update);
-	updateParams();
-}

src/modules/mavlink/mavlink_receiver.h

@@ -259,7 +259,7 @@ private:
 	// ORB subscriptions
 	uORB::Subscription	_actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription	_control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::Subscription	_param_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription	_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription	_vehicle_local_position_sub{ORB_ID(vehicle_local_position)};