yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

GPS driver update to uORB::Subscription

Browse Source
This commit is contained in:
Daniel Agar
2019-06-04 16:51:30 -04:00
committed by Beat Küng
parent bece63866d
commit f2b4480e6b
1 changed files with 5 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/drivers/gps/gps.cpp
View File

@@ -75,7 +75,7 @@
#include <matrix/math.hpp>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <uORB/uORB.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <uORB/topics/gps_inject_data.h>
@@ -198,7 +198,7 @@ private:
const Instance _instance;
int _orb_inject_data_fd{-1};
uORB::Subscription _orb_inject_data_sub{ORB_ID(gps_inject_data)};
orb_advert_t _dump_communication_pub{nullptr}; ///< if non-null, dump communication
gps_dump_s *_dump_to_device{nullptr};
gps_dump_s *_dump_from_device{nullptr};
@@ -439,18 +439,14 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
void GPS::handleInjectDataTopic()
{
if (_orb_inject_data_fd == -1) {
return;
}
bool updated = false;
do {
orb_check(_orb_inject_data_fd, &updated);
updated = _orb_inject_data_sub.updated();
if (updated) {
struct gps_inject_data_s msg;
orb_copy(ORB_ID(gps_inject_data), _orb_inject_data_fd, &msg);
gps_inject_data_s msg;
_orb_inject_data_sub.copy(&msg);
/* Write the message to the gps device. Note that the message could be fragmented.
* But as we don't write anywhere else to the device during operation, we don't
@@ -668,8 +664,6 @@ GPS::run()
param_get(handle, &gps_ubx_dynmodel);
}
_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
initializeCommunicationDump();
uint64_t last_rate_measurement = hrt_absolute_time();
@@ -853,8 +847,6 @@ GPS::run()
PX4_INFO("exiting");
orb_unsubscribe(_orb_inject_data_fd);
if (_dump_communication_pub) {
orb_unadvertise(_dump_communication_pub);
}
@@ -867,8 +859,6 @@ GPS::run()
orb_unadvertise(_report_gps_pos_pub);
}
int
GPS::print_status()
{