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ina226/voxlpm: make sure parameter sub is reset

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The subscription to parameter updates has to get
copied otherwise the change detection will not get
reset for next time.
This commit is contained in:
Matthias Grob 2020-08-25 19:41:07 +02:00 committed by Daniel Agar
parent 165c8b23bf
commit f92c5aa688
4 changed files with 10 additions and 6 deletions
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6
src/drivers/power_monitor/ina226/ina226.cpp
View File

@ -210,9 +210,11 @@ INA226::collect()
{
perf_begin(_sample_perf);
parameter_update_s param_update;
if (_parameter_update_sub.updated()) {
// Read from topic to clear updated flag
parameter_update_s parameter_update;
_parameter_update_sub.copy(&parameter_update);
if (_parameters_sub.copy(&param_update)) {
updateParams();
}

2
src/drivers/power_monitor/ina226/ina226.h
View File

@ -169,7 +169,7 @@ private:
Battery _battery;
uORB::Subscription _actuators_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _parameters_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
int read(uint8_t address, int16_t &data);
int write(uint8_t address, uint16_t data);

6
src/drivers/power_monitor/voxlpm/voxlpm.cpp
View File

@ -316,9 +316,11 @@ VOXLPM::measure()
}
}
parameter_update_s update;
if (_parameter_update_sub.updated()) {
// Read from topic to clear updated flag
parameter_update_s parameter_update;
_parameter_update_sub.copy(&parameter_update);
if (_parameter_sub.update(&update)) {
updateParams();
}

2
src/drivers/power_monitor/voxlpm/voxlpm.hpp
View File

@ -253,7 +253,7 @@ private:
perf_counter_t _comms_errors;
uORB::PublicationMulti<power_monitor_s> _pm_pub_topic{ORB_ID(power_monitor)};
uORB::Subscription _parameter_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
power_monitor_s _pm_status{};