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uORB: introduce SubscriptionMultiArray for working with multi-instances

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This commit is contained in:
Daniel Agar
2020-09-02 12:46:47 -04:00
committed by GitHub
parent 71f381ada9
commit 6ff361479c
20 changed files with 234 additions and 169 deletions
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9
src/modules/commander/accelerometer_calibration.cpp
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@@ -141,6 +141,7 @@
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionBlocking.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -437,11 +438,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
sensor_correction_s sensor_correction{};
sensor_correction_sub.copy(&sensor_correction);
uORB::Subscription accel_sub[MAX_ACCEL_SENS] {
{ORB_ID(sensor_accel), 0},
{ORB_ID(sensor_accel), 1},
{ORB_ID(sensor_accel), 2},
};
uORB::SubscriptionMultiArray<sensor_accel_s, MAX_ACCEL_SENS> accel_subs{ORB_ID::sensor_accel};
/* use the first sensor to pace the readout, but do per-sensor counts */
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
@@ -449,7 +446,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
Vector3f accel_sum{};
unsigned count = 0;
while (accel_sub[accel_index].update(&arp)) {
while (accel_subs[accel_index].update(&arp)) {
// fetch optional thermal offset corrections in sensor/board frame
if ((arp.timestamp > 0) && (arp.device_id != 0)) {
Vector3f offset{0, 0, 0};