fw_att_control: move to WQ with uORB callback scheduling

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -46,7 +46,9 @@
 #include <px4_tasks.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
+#include <px4_work_queue/WorkItem.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
@@ -67,7 +69,7 @@ using matrix::Quatf;
 
 using uORB::SubscriptionData;
 
-class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>
+class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public px4::WorkItem
 {
 public:
 	FixedwingAttitudeControl();
@@ -76,24 +78,22 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
-	/** @see ModuleBase */
-	static FixedwingAttitudeControl *instantiate(int argc, char *argv[]);
-
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
 
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	/** @see ModuleBase::run() */
-	void run() override;
-
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
+	void Run() override;
+
+	bool init();
+
 private:
 
-	int		_att_sub{-1};				/**< vehicle attitude */
+	uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)};	/**< vehicle attitude */
 
 	uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};		/**< vehicle attitude setpoint */
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};			/**< battery status subscription */
@@ -128,8 +128,7 @@ private:
 	vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
-	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
-	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
+	perf_counter_t	_loop_interval_perf;		/**< loop interval performance counter */
 
 	float _flaps_applied{0.0f};
 	float _flaperons_applied{0.0f};