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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/navigator/navigator.h
+1 -1
View File
@@ -317,7 +317,7 @@ private:
uORB::Subscription _gps_pos_sub{ORB_ID(vehicle_gps_position)}; /**< gps position subscription */
uORB::Subscription _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */
uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
uORB::Subscription _param_update_sub{ORB_ID(parameter_update)}; /**< param update subscription */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< param update subscription */
uORB::Subscription _pos_ctrl_landing_status_sub{ORB_ID(position_controller_landing_status)}; /**< position controller landing status subscription */
uORB::Subscription _traffic_sub{ORB_ID(transponder_report)}; /**< traffic subscription */
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)}; /**< vehicle commands (onboard and offboard) */
src/modules/navigator/navigator_main.cpp
+7 -5
View File
@@ -119,9 +119,6 @@ Navigator::~Navigator()
void
Navigator::params_update()
{
parameter_update_s param_update;
_param_update_sub.update(&param_update);
updateParams();
if (_handle_back_trans_dec_mss != PARAM_INVALID) {
@@ -202,8 +199,13 @@ Navigator::run()
}
}
/* parameters updated */
if (_param_update_sub.updated()) {
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
params_update();
}