From f92c5aa688d1c8d934af759fefa224b4cbecf810 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 25 Aug 2020 19:41:07 +0200
Subject: [PATCH] ina226/voxlpm: make sure parameter sub is reset

The subscription to parameter updates has to get
copied otherwise the change detection will not get
reset for next time.
---
 src/drivers/power_monitor/ina226/ina226.cpp | 6 ++++--
 src/drivers/power_monitor/ina226/ina226.h   | 2 +-
 src/drivers/power_monitor/voxlpm/voxlpm.cpp | 6 ++++--
 src/drivers/power_monitor/voxlpm/voxlpm.hpp | 2 +-
 4 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index c14cca4c71..ee74c612df 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -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();
 	}
 
diff --git a/src/drivers/power_monitor/ina226/ina226.h b/src/drivers/power_monitor/ina226/ina226.h
index 399ca38f41..0ba8596fae 100644
--- a/src/drivers/power_monitor/ina226/ina226.h
+++ b/src/drivers/power_monitor/ina226/ina226.h
@@ -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);
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.cpp b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
index dc50d63b96..84b2be3ee6 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm.cpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.cpp
@@ -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();
 	}
 
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm.hpp b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
index 29b0d07bc0..d3a991efca 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm.hpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm.hpp
@@ -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{};