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Subsystem_info status flags & checks: Switch back to uORB for inter-process communication, handle GPS checks completely inside ekf2, add distance_sensor checks

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This commit is contained in:
Philipp Oettershagen
2018-06-06 18:54:24 +02:00
committed by Beat Küng
parent 6f1f414b49
commit f5847a4a7b
13 changed files with 109 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
-6
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@@ -58,14 +58,12 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#define SR04_MAX_RANGEFINDERS 6
@@ -623,10 +621,6 @@ HC_SR04::start()
(worker_t)&HC_SR04::cycle_trampoline,
this,
USEC2TICK(_cycling_rate));
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/mb12xx/mb12xx.cpp
-5
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@@ -61,14 +61,12 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -589,9 +587,6 @@ MB12XX::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 5);
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/sf0x/sf0x.cpp
-2
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@@ -643,8 +643,6 @@ SF0X::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&SF0X::cycle_trampoline, this, 1);
// /* notify about state change */
// publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/sf1xx/sf1xx.cpp
-5
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@@ -64,14 +64,12 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -586,9 +584,6 @@ SF1XX::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&SF1XX::cycle_trampoline, this, USEC2TICK(_conversion_interval));
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/srf02/srf02.cpp
-5
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@@ -60,14 +60,12 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -592,9 +590,6 @@ SRF02::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&SRF02::cycle_trampoline, this, 5);
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/teraranger/teraranger.cpp
-5
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@@ -60,14 +60,12 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -669,9 +667,6 @@ TERARANGER::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&TERARANGER::cycle_trampoline, this, 1);
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/distance_sensor/tfmini/tfmini.cpp
-5
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@@ -61,7 +61,6 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/subsystem_info_pub.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
@@ -69,7 +68,6 @@
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
@@ -608,9 +606,6 @@ TFMINI::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&TFMINI::cycle_trampoline, this, 1);
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_SENSORPROXIMITY, true, true, true);
}
void
src/drivers/px4flow/px4flow.cpp
-5
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@@ -65,7 +65,6 @@
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <systemlib/subsystem_info_pub.h>
#include <conversion/rotation.h>
@@ -75,7 +74,6 @@
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h>
@@ -588,9 +586,6 @@ PX4FLOW::start()
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
/* notify about state change */
publish_subsystem_info(subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW, true, true, true);
}
void