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Rename _param_sub to _param_update_sub and initialize. Re-define and re-implement the update_params() method and only call if parameters have been updated.

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This commit is contained in:
mcsauder
2019-06-13 09:43:43 -06:00
committed by Beat Küng
parent c92b8b03cd
commit 742c22d099
2 changed files with 18 additions and 21 deletions
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31
src/modules/mavlink/mavlink_receiver.cpp
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@@ -566,10 +566,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
mavlink_optical_flow_rad_t flow;
mavlink_msg_optical_flow_rad_decode(msg, &flow);
/* read flow sensor parameters */
const enum Rotation flow_rot = (Rotation)_param_sens_flow_rot.get();
struct optical_flow_s f = {};
optical_flow_s f = {};
f.timestamp = _mavlink_timesync.sync_stamp(flow.time_usec);
f.time_since_last_sonar_update = flow.time_delta_distance_us;
@@ -587,9 +584,12 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
f.min_ground_distance = _param_sens_flow_minhgt.get();
f.max_ground_distance = _param_sens_flow_maxhgt.get();
/* read flow sensor parameters */
const Rotation flow_rot = (Rotation)_param_sens_flow_rot.get();
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
float zero_val = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zero_val);
rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral);
if (_flow_pub == nullptr) {
@@ -600,7 +600,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
}
/* Use distance value for distance sensor topic */
struct distance_sensor_s d = {};
distance_sensor_s d = {};
if (flow.distance > 0.0f) { // negative values signal invalid data
d.timestamp = f.timestamp;
@@ -2590,7 +2590,10 @@ MavlinkReceiver::receive_thread(void *arg)
hrt_abstime last_send_update = 0;
while (!_mavlink->_task_should_exit) {
update_params(false);
// Check for updated parameters.
if (_param_update_sub.updated()) {
update_params();
}
if (poll(&fds[0], 1, timeout) > 0) {
if (_mavlink->get_protocol() == SERIAL) {
@@ -2743,15 +2746,9 @@ MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
}
void
MavlinkReceiver::update_params(const bool force)
MavlinkReceiver::update_params()
{
bool updated;
parameter_update_s param_update;
orb_check(_param_sub, &updated);
if (updated || force) {
updateParams();
orb_copy(ORB_ID(parameter_update), _param_sub, &param_update);
}
_param_update_sub.update(&param_update);
updateParams();
}