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commander move most orb subscriptions to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-05-30 13:20:54 -04:00
parent 777b615cf9
commit 3faab909d7
3 changed files with 63 additions and 137 deletions
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9
src/modules/commander/accelerometer_calibration.cpp
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@@ -148,6 +148,7 @@
#include <systemlib/mavlink_log.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/Subscription.hpp>
static const char *sensor_name = "accel";
@@ -334,11 +335,9 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
if (tc_enabled_int == 1) {
/* Get struct containing sensor thermal compensation data */
struct sensor_correction_s sensor_correction; /**< sensor thermal corrections */
memset(&sensor_correction, 0, sizeof(sensor_correction));
int sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction));
orb_copy(ORB_ID(sensor_correction), sensor_correction_sub, &sensor_correction);
orb_unsubscribe(sensor_correction_sub);
sensor_correction_s sensor_correction{}; /**< sensor thermal corrections */
uORB::Subscription sensor_correction_sub{ORB_ID(sensor_correction)};
sensor_correction_sub.copy(&sensor_correction);
/* don't allow a parameter instance to be calibrated more than once by another uORB instance */
if (!tc_locked[sensor_correction.accel_mapping[uorb_index]]) {