fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 13:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

parameter_update use uORB::Subscription consistently

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+7 -4
View File
@@ -123,7 +123,7 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
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 _att_sub{ORB_ID(vehicle_attitude)}; /**< vehicle attitude */
uORB::Subscription _home_pos_sub{ORB_ID(home_position)}; /**< home position */
@@ -312,10 +312,13 @@ MulticopterPositionControl::warn_rate_limited(const char *string)
int
MulticopterPositionControl::parameters_update(bool force)
{
parameter_update_s param_upd;
bool updated = _params_sub.update(&param_upd);
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
if (updated || force) {
// update parameters from storage
ModuleParams::updateParams();
SuperBlock::updateParams();