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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/rover_pos_control/RoverPositionControl.cpp
+9 -14
View File
@@ -70,18 +70,15 @@ RoverPositionControl::~RoverPositionControl()
perf_free(_loop_perf);
}
void RoverPositionControl::parameters_update(int parameter_update_sub, bool force)
void RoverPositionControl::parameters_update(bool force)
{
bool updated;
struct parameter_update_s param_upd;
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
orb_check(parameter_update_sub, &updated);
if (updated) {
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &param_upd);
}
if (force || updated) {
// update parameters from storage
updateParams();
_gnd_control.set_l1_damping(_param_l1_damping.get());
@@ -275,7 +272,6 @@ RoverPositionControl::run()
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
_vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -287,7 +283,7 @@ RoverPositionControl::run()
orb_set_interval(_global_pos_sub, 20);
orb_set_interval(_local_pos_sub, 20);
parameters_update(_params_sub, true);
parameters_update(true);
/* wakeup source(s) */
px4_pollfd_struct_t fds[3];
@@ -318,7 +314,7 @@ RoverPositionControl::run()
_vehicle_acceleration_sub.update();
/* update parameters from storage */
parameters_update(_params_sub);
parameters_update();
bool manual_mode = _control_mode.flag_control_manual_enabled;
@@ -430,7 +426,6 @@ RoverPositionControl::run()
orb_unsubscribe(_global_pos_sub);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_manual_control_sub);
orb_unsubscribe(_params_sub);
orb_unsubscribe(_pos_sp_triplet_sub);
orb_unsubscribe(_vehicle_attitude_sub);
orb_unsubscribe(_sensor_combined_sub);
src/modules/rover_pos_control/RoverPositionControl.hpp
+3 -2
View File
@@ -105,11 +105,12 @@ private:
int _global_pos_sub{-1};
int _local_pos_sub{-1};
int _manual_control_sub{-1}; /**< notification of manual control updates */
int _params_sub{-1}; /**< notification of parameter updates */
int _pos_sp_triplet_sub{-1};
int _vehicle_attitude_sub{-1};
int _sensor_combined_sub{-1};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
manual_control_setpoint_s _manual{}; /**< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
vehicle_control_mode_s _control_mode{}; /**< control mode */
@@ -167,7 +168,7 @@ private:
/**
* Update our local parameter cache.
*/
void parameters_update(int parameter_update_sub, bool force = false);
void parameters_update(bool force = false);
void manual_control_setpoint_poll();
void position_setpoint_triplet_poll();