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mavlink receiver move to uORB::Publication #12372

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merged 3 commits into from
Aug 9, 2019
Merged

mavlink receiver move to uORB::Publication #12372

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489c652
mavlink receiver move to uORB::Publication
dagar Jun 29, 2019
ab4f6da
create uORB::PublicationMulti for multi publications
dagar Aug 4, 2019
aa7d3b3
Merge branch 'master' into pr-mavlink_recv_uORB_Publication
dagar Aug 9, 2019
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4 changes: 2 additions & 2 deletions src/drivers/optical_flow/paw3902/PAW3902.hpp
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Expand Up @@ -51,7 +51,7 @@
#include <lib/parameters/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/optical_flow.h>

/* Configuration Constants */
Expand Down Expand Up @@ -117,7 +117,7 @@ class PAW3902 : public device::SPI, public px4::ScheduledWorkItem

bool changeMode(Mode newMode);

uORB::Publication<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};

perf_counter_t _sample_perf;
perf_counter_t _interval_perf;
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4 changes: 2 additions & 2 deletions src/lib/drivers/accelerometer/PX4Accelerometer.hpp
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Expand Up @@ -41,7 +41,7 @@
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <px4_module_params.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_accel.h>

class PX4Accelerometer : public cdev::CDev, public ModuleParams
Expand All @@ -68,7 +68,7 @@ class PX4Accelerometer : public cdev::CDev, public ModuleParams

void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }

uORB::PublicationData<sensor_accel_s> _sensor_accel_pub;
uORB::PublicationMultiData<sensor_accel_s> _sensor_accel_pub;

math::LowPassFilter2pVector3f _filter{1000, 100};
Integrator _integrator{4000, false};
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4 changes: 2 additions & 2 deletions src/lib/drivers/barometer/PX4Barometer.hpp
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Expand Up @@ -38,7 +38,7 @@
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>

class PX4Barometer : public cdev::CDev
Expand All @@ -59,7 +59,7 @@ class PX4Barometer : public cdev::CDev

private:

uORB::PublicationData<sensor_baro_s> _sensor_baro_pub;
uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub;

int _class_device_instance{-1};

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4 changes: 2 additions & 2 deletions src/lib/drivers/gyroscope/PX4Gyroscope.hpp
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Expand Up @@ -41,7 +41,7 @@
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <px4_module_params.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_gyro.h>

class PX4Gyroscope : public cdev::CDev, public ModuleParams
Expand All @@ -68,7 +68,7 @@ class PX4Gyroscope : public cdev::CDev, public ModuleParams

void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }

uORB::PublicationData<sensor_gyro_s> _sensor_gyro_pub;
uORB::PublicationMultiData<sensor_gyro_s> _sensor_gyro_pub;

math::LowPassFilter2pVector3f _filter{1000, 100};
Integrator _integrator{4000, true};
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4 changes: 2 additions & 2 deletions src/lib/drivers/magnetometer/PX4Magnetometer.hpp
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Expand Up @@ -38,7 +38,7 @@
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_mag.h>

class PX4Magnetometer : public cdev::CDev
Expand All @@ -63,7 +63,7 @@ class PX4Magnetometer : public cdev::CDev

private:

uORB::PublicationData<sensor_mag_s> _sensor_mag_pub;
uORB::PublicationMultiData<sensor_mag_s> _sensor_mag_pub;

const enum Rotation _rotation;

Expand Down
4 changes: 2 additions & 2 deletions src/lib/drivers/rangefinder/PX4Rangefinder.hpp
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Expand Up @@ -38,7 +38,7 @@
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/distance_sensor.h>

class PX4Rangefinder : public cdev::CDev
Expand All @@ -64,7 +64,7 @@ class PX4Rangefinder : public cdev::CDev

private:

uORB::PublicationData<distance_sensor_s> _distance_sensor_pub;
uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;

int _class_device_instance{-1};

Expand Down
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