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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/simulator/simulator.h
+2 -6
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@@ -53,6 +53,7 @@
#include <perf/perf_counter.h>
#include <px4_module_params.h>
#include <px4_posix.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@@ -181,8 +182,6 @@ private:
_gps.writeData(&gps_data);
_param_sub = orb_subscribe(ORB_ID(parameter_update));
_battery_status.timestamp = hrt_absolute_time();
_px4_accel.set_sample_rate(250);
@@ -191,9 +190,6 @@ private:
~Simulator()
{
// Unsubscribe from uORB topics.
orb_unsubscribe(_param_sub);
// free perf counters
perf_free(_perf_gps);
perf_free(_perf_sim_delay);
@@ -230,7 +226,7 @@ private:
orb_advert_t _irlock_report_pub{nullptr};
orb_advert_t _visual_odometry_pub{nullptr};
int _param_sub{-1};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
unsigned int _port{14560};