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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
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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