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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/vtol_att_control/vtol_att_control_main.cpp
+6 -6
View File
@@ -333,13 +333,13 @@ VtolAttitudeControl::Run()
}
if (should_run) {
/* only update parameters if they changed */
if (_params_sub.updated()) {
/* read from param to clear updated flag */
parameter_update_s update;
_params_sub.copy(&update);
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
/* update parameters from storage */
// update parameters from storage
parameters_update();
}
src/modules/vtol_att_control/vtol_att_control_main.h
+1 -1
View File
@@ -143,7 +143,7 @@ private:
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; // sensor subscription
uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; //manual control setpoint subscription
uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; //parameter updates subscription
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; // local position setpoint subscription
uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
uORB::Subscription _v_att_sub{ORB_ID(vehicle_attitude)}; //vehicle attitude subscription