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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/mc_att_control/mc_att_control.hpp
+1 -1
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@@ -146,7 +146,7 @@ private:
uORB::Subscription _v_att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint subscription */
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint subscription */
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _motor_limits_sub{ORB_ID(multirotor_motor_limits)}; /**< motor limits subscription */
src/modules/mc_att_control/mc_att_control_main.cpp
+6 -4
View File
@@ -137,11 +137,13 @@ MulticopterAttitudeControl::parameters_updated()
void
MulticopterAttitudeControl::parameter_update_poll()
{
/* Check if parameters have changed */
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 (_params_sub.update(&param_update)) {
updateParams();
// update parameters from storage
parameters_updated();
}
}