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vehicle_angular_velocity: sensor_selection callback

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- needed to update the main sensor_gyro subscription if the primary
stops responding
This commit is contained in:
Daniel Agar
2019-08-06 13:28:06 -04:00
parent b945e28e08
commit 7b179776e2
2 changed files with 9 additions and 6 deletions
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5
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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@@ -68,7 +68,8 @@ VehicleAngularVelocity::Start()
ParametersUpdate(true);
SensorBiasUpdate(true);
_sensor_correction_sub.register_callback();
// needed to change the active sensor if the primary stops updating
_sensor_selection_sub.register_callback();
return SensorCorrectionsUpdate(true);
}
@@ -83,7 +84,7 @@ VehicleAngularVelocity::Stop()
sub.unregister_callback();
}
_sensor_correction_sub.unregister_callback();
_sensor_selection_sub.unregister_callback();
}
void

10
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
View File

@@ -50,6 +50,7 @@
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#define MAX_GYRO_COUNT 3
@@ -85,11 +86,12 @@ private:
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::SubscriptionCallbackWorkItem _sensor_correction_sub{this, ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub[MAX_GYRO_COUNT] { /**< gyro data subscription */
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; /**< selected primary sensor subscription */
uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub[MAX_GYRO_COUNT] { /**< gyro data subscription */
{this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1},
{this, ORB_ID(sensor_gyro), 2}