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navigator move to new uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-03 20:19:56 -04:00
parent 79eb74be3f
commit e4ad994763
8 changed files with 55 additions and 173 deletions
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src/modules/navigator/mission.cpp
+5 -9
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@@ -79,10 +79,7 @@ Mission::on_inactive()
}
if (_inited) {
bool mission_sub_updated = false;
orb_check(_navigator->get_mission_sub(), &mission_sub_updated);
if (mission_sub_updated) {
if (_mission_sub.updated()) {
update_mission();
if (_mission_type == MISSION_TYPE_NONE && _mission.count > 0) {
@@ -180,8 +177,7 @@ Mission::on_active()
check_mission_valid(false);
/* check if anything has changed */
bool mission_sub_updated = false;
orb_check(_navigator->get_mission_sub(), &mission_sub_updated);
bool mission_sub_updated = _mission_sub.updated();
if (mission_sub_updated) {
update_mission();
@@ -453,9 +449,9 @@ Mission::update_mission()
* an existing ROI setting from previous missions */
_navigator->reset_vroi();
struct mission_s old_mission = _mission;
const mission_s old_mission = _mission;
if (orb_copy(ORB_ID(mission), _navigator->get_mission_sub(), &_mission) == OK) {
if (_mission_sub.copy(&_mission)) {
/* determine current index */
if (_mission.current_seq >= 0 && _mission.current_seq < (int)_mission.count) {
_current_mission_index = _mission.current_seq;
@@ -499,7 +495,7 @@ Mission::update_mission()
}
} else {
PX4_ERR("mission update failed, handle: %d", _navigator->get_mission_sub());
PX4_ERR("mission update failed");
}
if (failed) {