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vehicle_angular_velocity: sensor_selection callback #12649

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merged 2 commits into from
Aug 6, 2019
Merged

vehicle_angular_velocity: sensor_selection callback #12649

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a4014c9
vehicle_angular_velocity: sensor_selection callback
dagar Aug 6, 2019
7c03da2
Merge branch 'master' into pr-vehicle_angular_velocity_callback
dagar Aug 6, 2019
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5 changes: 3 additions & 2 deletions src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,8 @@ VehicleAngularVelocity::Start()
ParametersUpdate(true);
SensorBiasUpdate(true);

_sensor_correction_sub.register_callback();
// needed to change the active sensor if the primary stops updating
_sensor_selection_sub.register_callback();

return SensorCorrectionsUpdate(true);
}
Expand All @@ -83,7 +84,7 @@ VehicleAngularVelocity::Stop()
sub.unregister_callback();
}

_sensor_correction_sub.unregister_callback();
_sensor_selection_sub.unregister_callback();
}

void
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10 changes: 6 additions & 4 deletions src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
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Expand Up @@ -50,6 +50,7 @@
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_angular_velocity.h>

#define MAX_GYRO_COUNT 3
Expand Down Expand Up @@ -85,11 +86,12 @@ class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem

uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};

uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */
uORB::Subscription _params_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; /**< sensor in-run bias correction subscription */
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */

uORB::SubscriptionCallbackWorkItem _sensor_correction_sub{this, ORB_ID(sensor_correction)}; /**< sensor thermal correction subscription */
uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub[MAX_GYRO_COUNT] { /**< gyro data subscription */
uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)}; /**< selected primary sensor subscription */
uORB::SubscriptionCallbackWorkItem _sensor_gyro_sub[MAX_GYRO_COUNT] { /**< gyro data subscription */
{this, ORB_ID(sensor_gyro), 0},
{this, ORB_ID(sensor_gyro), 1},
{this, ORB_ID(sensor_gyro), 2}
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