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parameter_update use uORB::Subscription consistently

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This commit is contained in:
Daniel Agar
2019-07-28 11:55:52 -04:00
parent bbb96cbd0c
commit c8e59c4e39
47 changed files with 274 additions and 259 deletions
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src/modules/sih/sih.cpp
+6 -8
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@@ -110,7 +110,6 @@ void Sih::run()
_actuator_out_sub = orb_subscribe(ORB_ID(actuator_outputs));
// initialize parameters
_parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
parameters_update_poll();
init_variables();
@@ -143,7 +142,6 @@ void Sih::run()
hrt_cancel(&_timer_call); // close the periodic timer interruption
px4_sem_destroy(&_data_semaphore);
orb_unsubscribe(_actuator_out_sub);
orb_unsubscribe(_parameter_update_sub);
}
// timer_callback() is used as a real time callback to post the semaphore
@@ -186,13 +184,13 @@ void Sih::inner_loop()
void Sih::parameters_update_poll()
{
bool updated = false;
struct parameter_update_s param_upd;
// check for parameter updates
if (_parameter_update_sub.updated()) {
// 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);
// update parameters from storage
updateParams();
parameters_updated();
}