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rc_input move to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-29 10:17:33 -04:00
committed by Beat Küng
parent 4f445cd7f8
commit 38da0f95aa
4 changed files with 19 additions and 43 deletions
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23
src/drivers/rc_input/RCInput.cpp
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@@ -64,9 +64,6 @@ RCInput::~RCInput()
{
orb_unadvertise(_to_input_rc);
orb_unsubscribe(_adc_sub);
orb_unsubscribe(_vehicle_cmd_sub);
#ifdef RC_SERIAL_PORT
dsm_deinit();
#endif
@@ -82,15 +79,13 @@ RCInput::~RCInput()
int
RCInput::init()
{
_adc_sub = orb_subscribe(ORB_ID(adc_report));
#ifdef RC_SERIAL_PORT
# ifdef RF_RADIO_POWER_CONTROL
// power radio on
RF_RADIO_POWER_CONTROL(true);
# endif
_vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
// dsm_init sets some file static variables and returns a file descriptor
_rcs_fd = dsm_init(RC_SERIAL_PORT);
// assume SBUS input and immediately switch it to
@@ -297,13 +292,9 @@ RCInput::cycle()
#if defined(SPEKTRUM_POWER)
/* vehicle command */
bool vehicle_command_updated = false;
orb_check(_vehicle_cmd_sub, &vehicle_command_updated);
if (vehicle_command_updated) {
vehicle_command_s vcmd = {};
orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub, &vcmd);
vehicle_command_s vcmd;
if (_vehicle_cmd_sub.update(&vcmd)) {
// Check for a pairing command
if ((unsigned int)vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) {
if (!_rc_scan_locked /* !_armed.armed */) { // TODO: add armed check?
@@ -336,13 +327,9 @@ RCInput::cycle()
/* update ADC sampling */
#ifdef ADC_RC_RSSI_CHANNEL
bool adc_updated = false;
orb_check(_adc_sub, &adc_updated);
adc_report_s adc;
if (adc_updated) {
struct adc_report_s adc;
orb_copy(ORB_ID(adc_report), _adc_sub, &adc);
if (_adc_sub.update(&adc)) {
const unsigned adc_chans = sizeof(adc.channel_id) / sizeof(adc.channel_id[0]);
for (unsigned i = 0; i < adc_chans; i++) {