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create uORB::PublicationMulti for multi publications

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This commit is contained in:
Daniel Agar
2019-08-08 21:01:56 -04:00
parent 0a0c404a08
commit e8a11086eb
13 changed files with 193 additions and 69 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -5
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@@ -518,7 +518,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
mavlink_command_ack_t ack;
mavlink_msg_command_ack_decode(msg, &ack);
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink->get_channel());
vehicle_command_ack_s command_ack{};
@@ -1608,6 +1608,7 @@ MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_mess
trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];
trajectory_waypoint.waypoints[i].type = UINT8_MAX;
}
for (int i = 0; i < number_valid_points; ++i) {
@@ -2216,10 +2217,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
matrix::Quatf q(hil_state.attitude_quaternion);
q.copyTo(hil_attitude.q);
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
_attitude_pub.publish(hil_attitude);
}
src/modules/mavlink/mavlink_receiver.h
+11 -10
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@@ -50,6 +50,7 @@
#include <px4_module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
@@ -237,16 +238,16 @@ private:
uORB::Publication<vehicle_trajectory_waypoint_s> _trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
// ORB publications (multi)
uORB::Publication<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
uORB::Publication<distance_sensor_s> _flow_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
uORB::Publication<input_rc_s> _rc_pub{ORB_ID(input_rc), ORB_PRIO_LOW};
uORB::Publication<manual_control_setpoint_s> _manual_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
uORB::Publication<ping_s> _ping_pub{ORB_ID(ping), ORB_PRIO_LOW};
uORB::Publication<radio_status_s> _radio_status_pub{ORB_ID(radio_status), ORB_PRIO_LOW};
uORB::Publication<sensor_accel_s> _accel_pub{ORB_ID(sensor_accel), ORB_PRIO_LOW};
uORB::Publication<sensor_baro_s> _baro_pub{ORB_ID(sensor_baro), ORB_PRIO_LOW};
uORB::Publication<sensor_gyro_s> _gyro_pub{ORB_ID(sensor_gyro), ORB_PRIO_LOW};
uORB::Publication<sensor_mag_s> _mag_pub{ORB_ID(sensor_mag), ORB_PRIO_LOW};
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
uORB::PublicationMulti<distance_sensor_s> _flow_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc), ORB_PRIO_LOW};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
uORB::PublicationMulti<ping_s> _ping_pub{ORB_ID(ping), ORB_PRIO_LOW};
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status), ORB_PRIO_LOW};
uORB::PublicationMulti<sensor_accel_s> _accel_pub{ORB_ID(sensor_accel), ORB_PRIO_LOW};
uORB::PublicationMulti<sensor_baro_s> _baro_pub{ORB_ID(sensor_baro), ORB_PRIO_LOW};
uORB::PublicationMulti<sensor_gyro_s> _gyro_pub{ORB_ID(sensor_gyro), ORB_PRIO_LOW};
uORB::PublicationMulti<sensor_mag_s> _mag_pub{ORB_ID(sensor_mag), ORB_PRIO_LOW};
// ORB publications (queue length > 1)
uORB::PublicationQueued<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};