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parameter_update use uORB::Subscription consistently

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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.hpp
+3 -2
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@@ -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();