parameter_update use uORB::Subscription consistently

src/drivers/heater/heater.cpp

@@ -292,9 +292,13 @@ float Heater::temperature_setpoint(char *argv[])
 
 void Heater::update_params(const bool force)
 {
-	parameter_update_s param_update;
+	// check for parameter updates
+	if (_parameter_update_sub.updated() || force) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
-	if (_params_sub.update(&param_update) || force) {
+		// update parameters from storage
 		ModuleParams::updateParams();
 	}
 }

src/drivers/heater/heater.h

@@ -174,7 +174,7 @@ class Heater : public ModuleBase<Heater>, public ModuleParams, public px4::Sched
 
 	float _integrator_value = 0.0f;
 
-	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 
 	float _proportional_value = 0.0f;
 

src/drivers/lights/rgbled/rgbled.cpp

@@ -80,7 +80,8 @@ class RGBLED : public device::I2C, public px4::ScheduledWorkItem
 	volatile bool		_running{false};
 	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};
-	uORB::Subscription	_param_sub{ORB_ID(parameter_update)};
+
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 
 	LedController		_led_controller;
 
@@ -202,11 +203,13 @@ RGBLED::Run()
 		return;
 	}
 
-	if (_param_sub.updated()) {
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
 		// clear update
 		parameter_update_s pupdate;
-		_param_sub.copy(&pupdate);
+		_parameter_update_sub.copy(&pupdate);
 
+		// update parameters from storage
 		update_params();
 
 		// Immediately update to change brightness

src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp

@@ -80,7 +80,8 @@ class RGBLED_NPC5623C : public device::I2C, public px4::ScheduledWorkItem
 	volatile bool		_running{false};
 	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};
-	uORB::Subscription	_param_sub{ORB_ID(parameter_update)};
+
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 
 	LedController		_led_controller;
 
@@ -166,11 +167,13 @@ RGBLED_NPC5623C::Run()
 		return;
 	}
 
-	if (_param_sub.updated()) {
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
 		// clear update
 		parameter_update_s pupdate;
-		_param_sub.copy(&pupdate);
+		_parameter_update_sub.copy(&pupdate);
 
+		// update parameters from storage
 		update_params();
 
 		// Immediately update to change brightness

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -42,7 +42,7 @@
 #include <px4_getopt.h>
 #include <px4_posix.h>
 
-#include <uORB/uORB.h>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
@@ -260,7 +260,7 @@ void task_main(int argc, char *argv[])
 
 	Mixer::Airmode airmode = Mixer::Airmode::disabled;
 	update_params(airmode);
-	int params_sub = orb_subscribe(ORB_ID(parameter_update));
+	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
 
 	int rc_channels_sub = -1;
 
@@ -418,16 +418,15 @@ void task_main(int argc, char *argv[])
 			_task_should_exit = true;
 		}
 
-		/* check for parameter updates */
-		bool param_updated = false;
-		orb_check(params_sub, &param_updated);
+		// check for parameter updates
+		if (parameter_update_sub.updated()) {
+			// clear update
+			parameter_update_s pupdate;
+			parameter_update_sub.copy(&pupdate);
 
-		if (param_updated) {
-			struct parameter_update_s update;
-			orb_copy(ORB_ID(parameter_update), params_sub, &update);
+			// update parameters from storage
 			update_params(airmode);
 		}
-
 	}
 
 	delete pwm_out;
@@ -447,10 +446,6 @@ void task_main(int argc, char *argv[])
 		orb_unsubscribe(rc_channels_sub);
 	}
 
-	if (params_sub != -1) {
-		orb_unsubscribe(params_sub);
-	}
-
 	perf_free(_perf_control_latency);
 
 	_is_running = false;

src/drivers/pwm_out_sim/PWMSim.cpp

@@ -36,6 +36,8 @@
 #include <px4_time.h>
 #include <mathlib/mathlib.h>
 
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/multirotor_motor_limits.h>
 
 PWMSim::PWMSim() :
@@ -162,7 +164,7 @@ PWMSim::run()
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
 	update_params();
-	int params_sub = orb_subscribe(ORB_ID(parameter_update));
+	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
 
 	/* loop until killed */
 	while (!should_exit()) {
@@ -323,13 +325,13 @@ PWMSim::run()
 			}
 		}
 
-		/* check for parameter updates */
-		bool param_updated = false;
-		orb_check(params_sub, &param_updated);
+		// check for parameter updates
+		if (parameter_update_sub.updated()) {
+			// clear update
+			parameter_update_s pupdate;
+			parameter_update_sub.copy(&pupdate);
 
-		if (param_updated) {
-			struct parameter_update_s update;
-			orb_copy(ORB_ID(parameter_update), params_sub, &update);
+			// update parameters from storage
 			update_params();
 		}
 	}
@@ -341,7 +343,6 @@ PWMSim::run()
 	}
 
 	orb_unsubscribe(_armed_sub);
-	orb_unsubscribe(params_sub);
 }
 
 int

src/drivers/px4fmu/fmu.cpp

@@ -177,7 +177,7 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>, public OutputModule
 
 	unsigned	_current_update_rate{0};
 
-	uORB::Subscription _param_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
 
 
 	unsigned	_num_outputs{0};
@@ -767,7 +767,13 @@ PX4FMU::Run()
 		update_pwm_out_state(pwm_on);
 	}
 
-	if (_param_sub.updated()) {
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
 		update_params();
 	}
 
@@ -783,16 +789,12 @@ PX4FMU::Run()
 
 void PX4FMU::update_params()
 {
-	parameter_update_s pupdate;
-	_param_sub.update(&pupdate);
-
 	update_pwm_rev_mask();
 	update_pwm_trims();
 
 	updateParams();
 }
 
-
 int
 PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 {

src/drivers/px4io/px4io.cpp

@@ -256,7 +256,7 @@ class PX4IO : public cdev::CDev
 	uORB::Subscription	_t_actuator_controls_3{ORB_ID(actuator_controls_3)};;	///< actuator controls group 3 topic
 	uORB::Subscription	_t_actuator_armed{ORB_ID(actuator_armed)};		///< system armed control topic
 	uORB::Subscription 	_t_vehicle_control_mode{ORB_ID(vehicle_control_mode)};	///< vehicle control mode topic
-	uORB::Subscription	_t_param{ORB_ID(parameter_update)};			///< parameter update topic
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};	///< parameter update topic
 	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};		///< vehicle command topic
 
 	bool			_param_update_force;	///< force a parameter update
@@ -997,10 +997,14 @@ PX4IO::task_main()
 			 *
 			 * XXX this may be a bit spammy
 			 */
-			if (_t_param.updated() || _param_update_force) {
-				_param_update_force = false;
+
+			// check for parameter updates
+			if (_parameter_update_sub.updated() || _param_update_force) {
+				// clear update
 				parameter_update_s pupdate;
-				_t_param.copy(&pupdate);
+				_parameter_update_sub.copy(&pupdate);
+
+				_param_update_force = false;
 
 				if (!_rc_handling_disabled) {
 					/* re-upload RC input config as it may have changed */

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -40,7 +40,7 @@
 #include <cmath>	// NAN
 #include <string.h>
 
-#include <uORB/uORB.h>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
@@ -357,7 +357,7 @@ void task_main(int argc, char *argv[])
 
 	Mixer::Airmode airmode = Mixer::Airmode::disabled;
 	update_params(airmode);
-	int params_sub = orb_subscribe(ORB_ID(parameter_update));
+	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
 
 	// Start disarmed
 	_armed.armed = false;
@@ -471,13 +471,13 @@ void task_main(int argc, char *argv[])
 			}
 		}
 
-		/* check for parameter updates */
-		bool param_updated = false;
-		orb_check(params_sub, &param_updated);
+		// check for parameter updates
+		if (parameter_update_sub.updated()) {
+			// clear update
+			parameter_update_s pupdate;
+			parameter_update_sub.copy(&pupdate);
 
-		if (param_updated) {
-			struct parameter_update_s update;
-			orb_copy(ORB_ID(parameter_update), params_sub, &update);
+			// update parameters from storage
 			update_params(airmode);
 		}
 	}
@@ -491,7 +491,6 @@ void task_main(int argc, char *argv[])
 	}
 
 	orb_unsubscribe(_armed_sub);
-	orb_unsubscribe(params_sub);
 
 	perf_free(_perf_control_latency);
 

src/drivers/tap_esc/tap_esc.cpp

@@ -47,7 +47,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
 #include <px4_module_params.h>
-#include <uORB/uORB.h>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
@@ -114,7 +114,9 @@ class TAP_ESC : public cdev::CDev, public ModuleBase<TAP_ESC>, public ModulePara
 	bool 			_is_armed = false;
 	int			_armed_sub = -1;
 	int 			_test_motor_sub = -1;
-	int 			_params_sub = -1;
+
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
+
 	orb_advert_t        	_outputs_pub = nullptr;
 	actuator_outputs_s      _outputs = {};
 	actuator_armed_s	_armed = {};
@@ -191,7 +193,6 @@ TAP_ESC::~TAP_ESC()
 
 	orb_unsubscribe(_armed_sub);
 	orb_unsubscribe(_test_motor_sub);
-	orb_unsubscribe(_params_sub);
 
 	orb_unadvertise(_outputs_pub);
 	orb_unadvertise(_esc_feedback_pub);
@@ -336,7 +337,6 @@ int TAP_ESC::init()
 
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 	_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
-	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 
 	return ret;
 }
@@ -609,13 +609,13 @@ void TAP_ESC::cycle()
 
 	}
 
-	/* check for parameter updates */
-	bool param_updated = false;
-	orb_check(_params_sub, &param_updated);
+	// check for parameter updates
+	if (_parameter_update_sub.updated()) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
 
-	if (param_updated) {
-		struct parameter_update_s update;
-		orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+		// update parameters from storage
 		updateParams();
 	}
 }

src/drivers/uavcan/uavcan_main.cpp

@@ -55,6 +55,7 @@
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>
 
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/parameter_update.h>
 
@@ -810,17 +811,17 @@ int UavcanNode::run()
 
 	update_params();
 
-	int params_sub = orb_subscribe(ORB_ID(parameter_update));
+	uORB::Subscription parameter_update_sub{ORB_ID(parameter_update)};
 
 	while (!_task_should_exit) {
 
-		/* check for parameter updates */
-		bool param_updated = false;
-		orb_check(params_sub, &param_updated);
+		// check for parameter updates
+		if (parameter_update_sub.updated()) {
+			// clear update
+			parameter_update_s pupdate;
+			parameter_update_sub.copy(&pupdate);
 
-		if (param_updated) {
-			struct parameter_update_s update;
-			orb_copy(ORB_ID(parameter_update), params_sub, &update);
+			// update parameters from storage
 			update_params();
 		}
 
@@ -995,8 +996,6 @@ int UavcanNode::run()
 		}
 	}
 
-	orb_unsubscribe(params_sub);
-
 	(void)::close(busevent_fd);
 
 	teardown();