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Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH

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FengShun
2020-10-26 13:01:13 +01:00
committed by Beat Küng
parent 90c366f369
commit eac9a6b68b
46 changed files with 58 additions and 68 deletions
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src/modules/mavlink/mavlink_main.cpp
+1 -1
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@@ -2149,7 +2149,7 @@ Mavlink::task_main(int argc, char *argv[])
uORB::Subscription ack_sub{ORB_ID(vehicle_command_ack)};
/* command ack */
uORB::PublicationQueued<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Subscription mavlink_log_sub{ORB_ID(mavlink_log)};
src/modules/mavlink/mavlink_parameters.h
+1 -1
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@@ -128,7 +128,7 @@ protected:
uORB::Publication<rc_parameter_map_s> _rc_param_map_pub{ORB_ID(rc_parameter_map)};
rc_parameter_map_s _rc_param_map{};
uORB::PublicationQueued<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};
uORB::Publication<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};
// enforce ORB_ID(uavcan_parameter_request) constants that map to MAVLINK defines
static_assert(uavcan_parameter_request_s::MESSAGE_TYPE_PARAM_REQUEST_READ == MAVLINK_MSG_ID_PARAM_REQUEST_READ,
"uavcan_parameter_request_s MAVLINK_MSG_ID_PARAM_REQUEST_READ constant mismatch");
src/modules/mavlink/mavlink_receiver.h
+4 -4
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@@ -283,10 +283,10 @@ private:
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
// ORB publications (queue length > 1)
uORB::PublicationQueued<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::PublicationQueued<transponder_report_s> _transponder_report_pub{ORB_ID(transponder_report)};
uORB::PublicationQueued<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::PublicationQueued<vehicle_command_s> _cmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
uORB::Publication<transponder_report_s> _transponder_report_pub{ORB_ID(transponder_report)};
uORB::Publication<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_s> _cmd_pub{ORB_ID(vehicle_command)};
// ORB subscriptions
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
src/modules/mavlink/tune_publisher.h
+1 -1
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@@ -51,5 +51,5 @@ private:
char _tune_buffer[MAX_TUNE_LEN] {0};
hrt_abstime _next_publish_time {0};
uORB::PublicationQueued<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
};