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introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

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This commit is contained in:
Daniel Agar
2019-08-04 10:08:09 -04:00
parent 839787568c
commit e69398c09f
62 changed files with 421 additions and 674 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -8
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@@ -47,6 +47,7 @@
#include <commander/px4_custom_mode.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/home_position.h>
#include <uORB/topics/parameter_update.h>
@@ -108,7 +109,7 @@ private:
Takeoff _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */
orb_advert_t _att_sp_pub{nullptr}; /**< attitude setpoint publication */
orb_advert_t _pub_vehicle_command{nullptr}; /**< vehicle command publication */
uORB::PublicationQueued<vehicle_command_s> _pub_vehicle_command{ORB_ID(vehicle_command)}; /**< vehicle command publication */
orb_advert_t _mavlink_log_pub{nullptr};
orb_id_t _attitude_setpoint_id{nullptr};
@@ -1038,13 +1039,7 @@ void MulticopterPositionControl::send_vehicle_cmd_do(uint8_t nav_state)
}
// publish the vehicle command
if (_pub_vehicle_command == nullptr) {
_pub_vehicle_command = orb_advertise_queue(ORB_ID(vehicle_command), &command,
vehicle_command_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command), _pub_vehicle_command, &command);
}
_pub_vehicle_command.publish(command);
}
int MulticopterPositionControl::task_spawn(int argc, char *argv[])