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control_allocator and angular_velocity_controller throttle parameter_update subscription

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This commit is contained in:
Daniel Agar
2021-01-10 21:43:12 -05:00
parent c36340d29a
commit 3e5e5ab1d5
3 changed files with 9 additions and 4 deletions
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src/modules/angular_velocity_controller/AngularVelocityController.hpp
+3 -1
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@@ -61,6 +61,7 @@
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
using namespace time_literals;
class AngularVelocityController : public ModuleBase<AngularVelocityController>, public ModuleParams,
public px4::WorkItem
@@ -102,8 +103,9 @@ private:
AngularVelocityControl _control; ///< class for control calculations
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)}; /**< motor limits subscription */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)}; /**< vehicle angular acceleration subscription */
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.hpp
+4 -2
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@@ -45,8 +45,11 @@
#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/parameter_update.h>
using namespace time_literals;
class ActuatorEffectivenessMultirotor: public ModuleParams, public ActuatorEffectiveness
{
public:
@@ -77,8 +80,7 @@ public:
int numActuators() const override { return _num_actuators; }
private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
bool _updated{true};
int _num_actuators{0};
src/modules/control_allocator/ControlAllocator.hpp
+2 -1
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@@ -144,7 +144,8 @@ private:
uORB::Publication<actuator_controls_s> _actuator_controls_4_pub{ORB_ID(actuator_controls_4)}; /**< actuator controls 4 publication */
uORB::Publication<actuator_controls_s> _actuator_controls_5_pub{ORB_ID(actuator_controls_5)}; /**< actuator controls 5 publication */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)}; /**< airspeed subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};