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uORB::Subscription subscribe directly to uORB device node object

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This commit is contained in:
Daniel Agar
2019-05-18 11:47:17 -04:00
parent 2d1c60bc85
commit 2c63e335e9
37 changed files with 766 additions and 270 deletions
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16
src/modules/commander/PreflightCheck.cpp
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@@ -100,7 +100,7 @@ static bool check_calibration(const char *param_template, int32_t device_id)
return calibration_found;
}
static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, unsigned instance, bool optional,
static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, bool optional,
int32_t &device_id, bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK);
@@ -109,7 +109,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
if (exists) {
uORB::Subscription<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), 0, instance};
uORB::SubscriptionData<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), instance};
mag_valid = (hrt_elapsed_time(&magnetometer.get().timestamp) < 1_s);
@@ -236,7 +236,7 @@ static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
return true;
}
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, unsigned instance,
static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance,
bool optional, bool dynamic, int32_t &device_id, bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
@@ -245,7 +245,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
if (exists) {
uORB::Subscription<sensor_accel_s> accel{ORB_ID(sensor_accel), 0, instance};
uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};
accel_valid = (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
@@ -300,7 +300,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
return success;
}
static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, unsigned instance, bool optional,
static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, bool optional,
int32_t &device_id, bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_gyro), instance) == PX4_OK);
@@ -309,7 +309,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
if (exists) {
uORB::Subscription<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), 0, instance};
uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), instance};
gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
@@ -345,14 +345,14 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
return calibration_valid && gyro_valid;
}
static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, unsigned instance, bool optional,
static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, uint8_t instance, bool optional,
int32_t &device_id, bool report_fail)
{
const bool exists = (orb_exists(ORB_ID(sensor_baro), instance) == PX4_OK);
bool baro_valid = false;
if (exists) {
uORB::Subscription<sensor_baro_s> baro{ORB_ID(sensor_baro), 0, instance};
uORB::SubscriptionData<sensor_baro_s> baro{ORB_ID(sensor_baro), instance};
baro_valid = (hrt_elapsed_time(&baro.get().timestamp) < 1_s);