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EKF2: Allocate distance sensor subscriptions as member variables

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Just create the subscriptions and keep them, instead of
re-creating them continuously

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2021-11-24 09:11:45 +01:00
committed by Beat Küng
parent bb307cd462
commit d9498ade32
2 changed files with 5 additions and 6 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -264,6 +264,8 @@ private:
uORB::SubscriptionCallbackWorkItem _sensor_combined_sub{this, ORB_ID(sensor_combined)};
uORB::SubscriptionCallbackWorkItem _vehicle_imu_sub{this, ORB_ID(vehicle_imu)};
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
bool _callback_registered{false};
bool _distance_sensor_selected{false}; // because we can have several distance sensor instances with different orientations