Move variable initialization from constructor to declarations in MavlinkReceiver class, alphabetize var lists. Added update_params() method to ensure that parameters subscribed to are updated routinely.

src/modules/mavlink/mavlink_receiver.cpp

@@ -83,19 +83,13 @@
 using matrix::wrap_2pi;
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
+	ModuleParams(nullptr),
 	_mavlink(parent),
 	_mavlink_ftp(parent),
 	_mavlink_log_handler(parent),
 	_mavlink_timesync(parent),
 	_mission_manager(parent),
-	_parameters_manager(parent),
-	_p_bat_emergen_thr(param_find("BAT_EMERGEN_THR")),
-	_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
-	_p_bat_low_thr(param_find("BAT_LOW_THR")),
-	_p_flow_rot(param_find("SENS_FLOW_ROT")),
-	_p_flow_maxr(param_find("SENS_FLOW_MAXR")),
-	_p_flow_minhgt(param_find("SENS_FLOW_MINHGT")),
-	_p_flow_maxhgt(param_find("SENS_FLOW_MAXHGT"))
+	_parameters_manager(parent)
 {
 	/* Make the attitude quaternion valid */
 	_att.q[0] = 1.0f;
@@ -334,14 +328,7 @@ void
 MavlinkReceiver::send_flight_information()
 {
 	mavlink_flight_information_t flight_info{};
-
-	param_t param_flight_uuid = param_find("COM_FLIGHT_UUID");
-
-	if (param_flight_uuid != PARAM_INVALID) {
-		int32_t flight_uuid;
-		param_get(param_flight_uuid, &flight_uuid);
-		flight_info.flight_uuid = (uint64_t)flight_uuid;
-	}
+	flight_info.flight_uuid = static_cast<uint64_t>(_param_com_flight_uuid.get());
 
 	actuator_armed_s actuator_armed{};
 	bool ret = _actuator_armed_sub.copy(&actuator_armed);
@@ -580,27 +567,25 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	mavlink_msg_optical_flow_rad_decode(msg, &flow);
 
 	/* read flow sensor parameters */
-	int32_t flow_rot_int;
-	param_get(_p_flow_rot, &flow_rot_int);
-	const enum Rotation flow_rot = (Rotation)flow_rot_int;
+	const enum Rotation flow_rot = (Rotation)_param_sens_flow_rot.get();
 
 	struct optical_flow_s f = {};
 
 	f.timestamp = _mavlink_timesync.sync_stamp(flow.time_usec);
-	f.integration_timespan = flow.integration_time_us;
+	f.time_since_last_sonar_update = flow.time_delta_distance_us;
+	f.integration_timespan  = flow.integration_time_us;
 	f.pixel_flow_x_integral = flow.integrated_x;
 	f.pixel_flow_y_integral = flow.integrated_y;
-	f.gyro_x_rate_integral = flow.integrated_xgyro;
-	f.gyro_y_rate_integral = flow.integrated_ygyro;
-	f.gyro_z_rate_integral = flow.integrated_zgyro;
-	f.time_since_last_sonar_update = flow.time_delta_distance_us;
-	f.ground_distance_m = flow.distance;
-	f.quality = flow.quality;
-	f.sensor_id = flow.sensor_id;
-	f.gyro_temperature = flow.temperature;
-	param_get(_p_flow_maxr, &f.max_flow_rate);
-	param_get(_p_flow_minhgt, &f.min_ground_distance);
-	param_get(_p_flow_maxhgt, &f.max_ground_distance);
+	f.gyro_x_rate_integral  = flow.integrated_xgyro;
+	f.gyro_y_rate_integral  = flow.integrated_ygyro;
+	f.gyro_z_rate_integral  = flow.integrated_zgyro;
+	f.gyro_temperature      = flow.temperature;
+	f.ground_distance_m     = flow.distance;
+	f.quality               = flow.quality;
+	f.sensor_id             = flow.sensor_id;
+	f.max_flow_rate         = _param_sens_flow_maxr.get();
+	f.min_ground_distance   = _param_sens_flow_minhgt.get();
+	f.max_ground_distance   = _param_sens_flow_maxhgt.get();
 
 	/* rotate measurements according to parameter */
 	float zeroval = 0.0f;
@@ -1560,23 +1545,15 @@ MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
 	battery_status.cell_count = cell_count;
 	battery_status.connected = true;
 
-	// Get the battery level thresholds.
-	float bat_emergen_thr;
-	float bat_crit_thr;
-	float bat_low_thr;
-	param_get(_p_bat_emergen_thr, &bat_emergen_thr);
-	param_get(_p_bat_crit_thr, &bat_crit_thr);
-	param_get(_p_bat_low_thr, &bat_low_thr);
-
 	// Set the battery warning based on remaining charge.
 	//  Note: Smallest values must come first in evaluation.
-	if (battery_status.remaining < bat_emergen_thr) {
+	if (battery_status.remaining < _param_bat_emergen_thr.get()) {
 		battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;
 
-	} else if (battery_status.remaining < bat_crit_thr) {
+	} else if (battery_status.remaining < _param_bat_crit_thr.get()) {
 		battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL;
 
-	} else if (battery_status.remaining < bat_low_thr) {
+	} else if (battery_status.remaining < _param_bat_low_thr.get()) {
 		battery_status.warning = battery_status_s::BATTERY_WARNING_LOW;
 	}
 
@@ -2613,6 +2590,8 @@ MavlinkReceiver::receive_thread(void *arg)
 	hrt_abstime last_send_update = 0;
 
 	while (!_mavlink->_task_should_exit) {
+		update_params(false);
+
 		if (poll(&fds[0], 1, timeout) > 0) {
 			if (_mavlink->get_protocol() == SERIAL) {
 
@@ -2762,3 +2741,17 @@ MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
 
 	pthread_attr_destroy(&receiveloop_attr);
 }
+
+void
+MavlinkReceiver::update_params(const bool force)
+{
+	bool updated;
+	parameter_update_s param_update;
+
+	orb_check(_param_sub, &updated);
+
+	if (updated || force) {
+		updateParams();
+		orb_copy(ORB_ID(parameter_update), _param_sub, &param_update);
+	}
+}

src/modules/mavlink/mavlink_receiver.h

@@ -41,8 +41,7 @@
 
 #pragma once
 
-#include <perf/perf_counter.h>
-#include <uORB/uORB.h>
+#include <px4_module_params.h>
 
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/actuator_armed.h>
@@ -91,7 +90,7 @@
 
 class Mavlink;
 
-class MavlinkReceiver
+class MavlinkReceiver : public ModuleParams
 {
 public:
 	/**
@@ -188,11 +187,18 @@ private:
 
 	void send_storage_information(int storage_id);
 
+	/**
+	 * @brief Updates and checks for updated uORB parameters.
+	 * @param force Boolean to determine if an update check should be forced.
+	 */
+	void update_params(const bool force = false);
+
 	Mavlink	*_mavlink;
 
 	MavlinkFTP			_mavlink_ftp;
 	MavlinkLogHandler		_mavlink_log_handler;
 	MavlinkTimesync			_mavlink_timesync;
+
 	MavlinkMissionManager		_mission_manager;
 	MavlinkParametersManager	_parameters_manager;
 
@@ -246,32 +252,37 @@ private:
 	orb_advert_t _transponder_report_pub{nullptr};
 	orb_advert_t _visual_odometry_pub{nullptr};
 
-	static constexpr int _gps_inject_data_queue_size{6};
-
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 
+	static constexpr int _gps_inject_data_queue_size{6};
+
+	static constexpr unsigned int MOM_SWITCH_COUNT{8};
+
 	int _orb_class_instance{-1};
+	int _param_sub{-1};
+
+	uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {};
+
+	uint16_t _mom_switch_state{0};
 
 	uint64_t _global_ref_timestamp{0};
 
-	bool _hil_local_proj_inited{false};
-
 	float _hil_local_alt0{0.0f};
 
-	static constexpr unsigned MOM_SWITCH_COUNT{8};
+	bool _hil_local_proj_inited{false};
 
-	uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {};
-	uint16_t _mom_switch_state{0};
-
-	param_t _p_bat_emergen_thr{PARAM_INVALID};
-	param_t _p_bat_crit_thr{PARAM_INVALID};
-	param_t _p_bat_low_thr{PARAM_INVALID};
-	param_t _p_flow_rot{PARAM_INVALID};
-	param_t _p_flow_maxr{PARAM_INVALID};
-	param_t _p_flow_minhgt{PARAM_INVALID};
-	param_t _p_flow_maxhgt{PARAM_INVALID};
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::BAT_CRIT_THR>)     _param_bat_crit_thr,
+		(ParamFloat<px4::params::BAT_EMERGEN_THR>)  _param_bat_emergen_thr,
+		(ParamFloat<px4::params::BAT_LOW_THR>)      _param_bat_low_thr,
+		(ParamFloat<px4::params::SENS_FLOW_MAXHGT>) _param_sens_flow_maxhgt,
+		(ParamFloat<px4::params::SENS_FLOW_MAXR>)   _param_sens_flow_maxr,
+		(ParamFloat<px4::params::SENS_FLOW_MINHGT>) _param_sens_flow_minhgt,
+		(ParamInt<px4::params::COM_FLIGHT_UUID>)    _param_com_flight_uuid,
+		(ParamInt<px4::params::SENS_FLOW_ROT>)      _param_sens_flow_rot
+	);
 
 	// Disallow copy construction and move assignment.
 	MavlinkReceiver(const MavlinkReceiver &) = delete;