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commander: rc_calibration move to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-09-28 16:43:53 -04:00
committed by GitHub
parent ce4290c8d4
commit 105bbef3bf
1 changed files with 6 additions and 9 deletions
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15
src/modules/commander/rc_calibration.cpp
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@@ -43,8 +43,7 @@
#include "rc_calibration.h"
#include "commander_helper.h"
#include <poll.h>
#include <unistd.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/mavlink_log.h>
@@ -53,18 +52,17 @@
int do_trim_calibration(orb_advert_t *mavlink_log_pub)
{
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
uORB::Subscription sub_man{ORB_ID(manual_control_setpoint)};
px4_usleep(400000);
struct manual_control_setpoint_s sp;
bool changed;
orb_check(sub_man, &changed);
manual_control_setpoint_s sp{};
bool changed = sub_man.updated();
if (!changed) {
mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
return PX4_ERROR;
}
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
sub_man.copy(&sp);
/* load trim values which are active */
float roll_trim_active;
@@ -98,11 +96,10 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
if (p1r != 0 || p2r != 0 || p3r != 0) {
mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
px4_close(sub_man);
return PX4_ERROR;
}
mavlink_log_info(mavlink_log_pub, "trim cal done");
px4_close(sub_man);
return PX4_OK;
}