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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/sensors/sensors.cpp
+7 -6
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@@ -168,7 +168,7 @@ private:
uORB::Subscription _actuator_ctrl_0_sub{ORB_ID(actuator_controls_0)}; /**< attitude controls sub */
uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)}; /**< raw differential pressure 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 _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Publication<airspeed_s> _airspeed_pub{ORB_ID(airspeed)}; /**< airspeed */
@@ -364,12 +364,13 @@ Sensors::diff_pres_poll(const vehicle_air_data_s &raw)
void
Sensors::parameter_update_poll(bool forced)
{
/* Check if any parameter has changed */
parameter_update_s update;
if (_params_sub.update(&update) || forced) {
/* read from param to clear updated flag */
// check for parameter updates
if (_parameter_update_sub.updated() || forced) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
parameters_update();
updateParams();