Merge pull request #1763 from PX4/ros_paramapi

multiplatform: improve param api

13 files changed, 318 insertions, 262 deletions

diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
index e1292f788..496e1dcd8 100644
--- a/src/examples/subscriber/subscriber_example.cpp
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -49,20 +49,18 @@ void rc_channels_callback_function(const px4_rc_channels &msg) {
 
 SubscriberExample::SubscriberExample() :
 	_n(),
-	_p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)),
-	_interval(0),
-	_p_test_float(PX4_PARAM_INIT(SUB_TESTF)),
-	_test_float(0.0f)
+	_p_sub_interv("SUB_INTERV", PARAM_SUB_INTERV_DEFAULT),
+	_p_test_float("SUB_TESTF", PARAM_SUB_TESTF_DEFAULT)
 {
 	/* Read the parameter back as example */
-	PX4_PARAM_GET(_p_sub_interv, &_interval);
-	PX4_INFO("Param SUB_INTERV = %d", _interval);
-	PX4_PARAM_GET(_p_test_float, &_test_float);
-	PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float);
+	_p_sub_interv.update();
+	_p_test_float.update();
+	PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
+	PX4_INFO("Param SUB_TESTF = %.3f", (double)_p_test_float.get());
 
 	/* Do some subscriptions */
 	/* Function */
-	_n.subscribe<px4_rc_channels>(rc_channels_callback_function, _interval);
+	_n.subscribe<px4_rc_channels>(rc_channels_callback_function, _p_sub_interv.get());
 
 	/* No callback */
 	_sub_rc_chan = _n.subscribe<px4_rc_channels>(500);
@@ -98,8 +96,8 @@ void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &ms
 void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg) {
 	PX4_INFO("parameter_update_callback (method): [%llu]",
 			msg.data().timestamp);
-	PX4_PARAM_GET(_p_sub_interv, &_interval);
-	PX4_INFO("Param SUB_INTERV = %d", _interval);
-	PX4_PARAM_GET(_p_test_float, &_test_float);
-	PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float);
+	_p_sub_interv.update();
+	PX4_INFO("Param SUB_INTERV = %d", _p_sub_interv.get());
+	_p_test_float.update();
+	PX4_INFO("Param SUB_TESTF = %.3f", (double)_p_test_float.get());
 }
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index 9b6d890e3..686fed023 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -52,12 +52,11 @@ public:
 	void spin() {_n.spin();}
 protected:
 	px4::NodeHandle _n;
-	px4_param_t _p_sub_interv;
-	int32_t _interval;
-	px4_param_t _p_test_float;
-	float _test_float;
+	px4::ParameterInt _p_sub_interv;
+	px4::ParameterFloat _p_test_float;
 	px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
 
+
 	void rc_channels_callback(const px4_rc_channels &msg);
 	void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
 	void parameter_update_callback(const px4_parameter_update &msg);
diff --git a/src/include/px4.h b/src/include/px4.h
index 34137ee6f..b93ab5f80 100644
--- a/src/include/px4.h
+++ b/src/include/px4.h
@@ -45,4 +45,5 @@
 #include "../platforms/px4_middleware.h"
 #include "../platforms/px4_nodehandle.h"
 #include "../platforms/px4_subscriber.h"
+#include "../platforms/px4_parameter.h"
 #endif
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
index 1e40c2b05..ecbf98c9e 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
@@ -73,31 +73,34 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_actuators_0_pub(nullptr),
 	_n(),
 
+	/* parameters */
+	_params_handles({
+			.roll_p		= px4::ParameterFloat("MC_ROLL_P", PARAM_MC_ROLL_P_DEFAULT),
+			.roll_rate_p	= px4::ParameterFloat("MC_ROLLRATE_P", PARAM_MC_ROLLRATE_P_DEFAULT),
+			.roll_rate_i	= px4::ParameterFloat("MC_ROLLRATE_I", PARAM_MC_ROLLRATE_I_DEFAULT),
+			.roll_rate_d	= px4::ParameterFloat("MC_ROLLRATE_D", PARAM_MC_ROLLRATE_D_DEFAULT),
+			.pitch_p	= px4::ParameterFloat("MC_PITCH_P", PARAM_MC_PITCH_P_DEFAULT),
+			.pitch_rate_p	= px4::ParameterFloat("MC_PITCHRATE_P", PARAM_MC_PITCHRATE_P_DEFAULT),
+			.pitch_rate_i	= px4::ParameterFloat("MC_PITCHRATE_I", PARAM_MC_PITCHRATE_I_DEFAULT),
+			.pitch_rate_d	= px4::ParameterFloat("MC_PITCHRATE_D", PARAM_MC_PITCHRATE_D_DEFAULT),
+			.yaw_p		= px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT),
+			.yaw_rate_p	= px4::ParameterFloat("MC_YAWRATE_P", PARAM_MC_YAWRATE_P_DEFAULT),
+			.yaw_rate_i	= px4::ParameterFloat("MC_YAWRATE_I", PARAM_MC_YAWRATE_I_DEFAULT),
+			.yaw_rate_d	= px4::ParameterFloat("MC_YAWRATE_D", PARAM_MC_YAWRATE_D_DEFAULT),
+			.yaw_ff		= px4::ParameterFloat("MC_YAW_FF", PARAM_MC_YAW_FF_DEFAULT),
+			.yaw_rate_max	= px4::ParameterFloat("MC_YAWRATE_MAX", PARAM_MC_YAWRATE_MAX_DEFAULT),
+			.man_roll_max	= px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MC_MAN_R_MAX_DEFAULT),
+			.man_pitch_max	= px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MC_MAN_P_MAX_DEFAULT),
+			.man_yaw_max	= px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MC_MAN_Y_MAX_DEFAULT),
+			.acro_roll_max	= px4::ParameterFloat("MC_ACRO_R_MAX", PARAM_MC_ACRO_R_MAX_DEFAULT),
+			.acro_pitch_max	= px4::ParameterFloat("MC_ACRO_P_MAX", PARAM_MC_ACRO_P_MAX_DEFAULT),
+			.acro_yaw_max	= px4::ParameterFloat("MC_ACRO_Y_MAX", PARAM_MC_ACRO_Y_MAX_DEFAULT)
+	}),
+
 	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
 
 {
-	_params_handles.roll_p			= 	PX4_PARAM_INIT(MC_ROLL_P);
-	_params_handles.roll_rate_p		= 	PX4_PARAM_INIT(MC_ROLLRATE_P);
-	_params_handles.roll_rate_i		= 	PX4_PARAM_INIT(MC_ROLLRATE_I);
-	_params_handles.roll_rate_d		= 	PX4_PARAM_INIT(MC_ROLLRATE_D);
-	_params_handles.pitch_p			= 	PX4_PARAM_INIT(MC_PITCH_P);
-	_params_handles.pitch_rate_p		= 	PX4_PARAM_INIT(MC_PITCHRATE_P);
-	_params_handles.pitch_rate_i		= 	PX4_PARAM_INIT(MC_PITCHRATE_I);
-	_params_handles.pitch_rate_d		= 	PX4_PARAM_INIT(MC_PITCHRATE_D);
-	_params_handles.yaw_p			=	PX4_PARAM_INIT(MC_YAW_P);
-	_params_handles.yaw_rate_p		= 	PX4_PARAM_INIT(MC_YAWRATE_P);
-	_params_handles.yaw_rate_i		= 	PX4_PARAM_INIT(MC_YAWRATE_I);
-	_params_handles.yaw_rate_d		= 	PX4_PARAM_INIT(MC_YAWRATE_D);
-	_params_handles.yaw_ff			= 	PX4_PARAM_INIT(MC_YAW_FF);
-	_params_handles.yaw_rate_max		= 	PX4_PARAM_INIT(MC_YAWRATE_MAX);
-	_params_handles.man_roll_max		= 	PX4_PARAM_INIT(MC_MAN_R_MAX);
-	_params_handles.man_pitch_max		= 	PX4_PARAM_INIT(MC_MAN_P_MAX);
-	_params_handles.man_yaw_max		= 	PX4_PARAM_INIT(MC_MAN_Y_MAX);
-	_params_handles.acro_roll_max		= 	PX4_PARAM_INIT(MC_ACRO_R_MAX);
-	_params_handles.acro_pitch_max		= 	PX4_PARAM_INIT(MC_ACRO_P_MAX);
-	_params_handles.acro_yaw_max		= 	PX4_PARAM_INIT(MC_ACRO_Y_MAX);
-
 	/* fetch initial parameter values */
 	parameters_update();
 
@@ -113,7 +116,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_manual_control_sp = _n.subscribe<px4_manual_control_setpoint>(0);
 	_armed = _n.subscribe<px4_actuator_armed>(0);
 	_v_status = _n.subscribe<px4_vehicle_status>(0);
-
 }
 
 MulticopterAttitudeControl::~MulticopterAttitudeControl()
@@ -123,57 +125,36 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
 int
 MulticopterAttitudeControl::parameters_update()
 {
-	float v;
-
 	/* roll gains */
-	PX4_PARAM_GET(_params_handles.roll_p, &v);
-	_params.att_p(0) = v;
-	PX4_PARAM_GET(_params_handles.roll_rate_p, &v);
-	_params.rate_p(0) = v;
-	PX4_PARAM_GET(_params_handles.roll_rate_i, &v);
-	_params.rate_i(0) = v;
-	PX4_PARAM_GET(_params_handles.roll_rate_d, &v);
-	_params.rate_d(0) = v;
+	_params.att_p(0) = _params_handles.roll_p.update();
+	_params.rate_p(0) = _params_handles.roll_rate_p.update();
+	_params.rate_i(0) = _params_handles.roll_rate_i.update();
+	_params.rate_d(0) = _params_handles.roll_rate_d.update();
 
 	/* pitch gains */
-	PX4_PARAM_GET(_params_handles.pitch_p, &v);
-	_params.att_p(1) = v;
-	PX4_PARAM_GET(_params_handles.pitch_rate_p, &v);
-	_params.rate_p(1) = v;
-	PX4_PARAM_GET(_params_handles.pitch_rate_i, &v);
-	_params.rate_i(1) = v;
-	PX4_PARAM_GET(_params_handles.pitch_rate_d, &v);
-	_params.rate_d(1) = v;
+	_params.att_p(1) = _params_handles.pitch_p.update();
+	_params.rate_p(1) = _params_handles.pitch_rate_p.update();
+	_params.rate_i(1) = _params_handles.pitch_rate_i.update();
+	_params.rate_d(1) = _params_handles.pitch_rate_d.update();
 
 	/* yaw gains */
-	PX4_PARAM_GET(_params_handles.yaw_p, &v);
-	_params.att_p(2) = v;
-	PX4_PARAM_GET(_params_handles.yaw_rate_p, &v);
-	_params.rate_p(2) = v;
-	PX4_PARAM_GET(_params_handles.yaw_rate_i, &v);
-	_params.rate_i(2) = v;
-	PX4_PARAM_GET(_params_handles.yaw_rate_d, &v);
-	_params.rate_d(2) = v;
-
-	PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff);
-	PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
-	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
+	_params.att_p(2) = _params_handles.yaw_p.update();
+	_params.rate_p(2) = _params_handles.yaw_rate_p.update();
+	_params.rate_i(2) = _params_handles.yaw_rate_i.update();
+	_params.rate_d(2) = _params_handles.yaw_rate_d.update();
+
+	_params.yaw_ff = _params_handles.yaw_ff.update();
+	_params.yaw_rate_max = math::radians(_params_handles.yaw_rate_max.update());
 
 	/* manual control scale */
-	PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max);
-	PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max);
-	PX4_PARAM_GET(_params_handles.man_yaw_max, &_params.man_yaw_max);
-	_params.man_roll_max = math::radians(_params.man_roll_max);
-	_params.man_pitch_max = math::radians(_params.man_pitch_max);
-	_params.man_yaw_max = math::radians(_params.man_yaw_max);
+	_params.man_roll_max = math::radians(_params_handles.man_roll_max.update());
+	_params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update());
+	_params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update());
 
 	/* acro control scale */
-	PX4_PARAM_GET(_params_handles.acro_roll_max, &v);
-	_params.acro_rate_max(0) = math::radians(v);
-	PX4_PARAM_GET(_params_handles.acro_pitch_max, &v);
-	_params.acro_rate_max(1) = math::radians(v);
-	PX4_PARAM_GET(_params_handles.acro_yaw_max, &v);
-	_params.acro_rate_max(2) = math::radians(v);
+	_params.acro_rate_max(0) = math::radians(_params_handles.acro_roll_max.update());
+	_params.acro_rate_max(1) = math::radians(_params_handles.acro_pitch_max.update());
+	_params.acro_rate_max(2) = math::radians(_params_handles.acro_yaw_max.update());
 
 	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
 
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h
index 95d608684..e44317316 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h
@@ -95,29 +95,28 @@ private:
 	px4::NodeHandle _n;
 
 	struct {
-		px4_param_t roll_p;
-		px4_param_t roll_rate_p;
-		px4_param_t roll_rate_i;
-		px4_param_t roll_rate_d;
-		px4_param_t pitch_p;
-		px4_param_t pitch_rate_p;
-		px4_param_t pitch_rate_i;
-		px4_param_t pitch_rate_d;
-		px4_param_t yaw_p;
-		px4_param_t yaw_rate_p;
-		px4_param_t yaw_rate_i;
-		px4_param_t yaw_rate_d;
-		px4_param_t yaw_ff;
-		px4_param_t yaw_rate_max;
-
-		px4_param_t man_roll_max;
-		px4_param_t man_pitch_max;
-		px4_param_t man_yaw_max;
-		px4_param_t acro_roll_max;
-		px4_param_t acro_pitch_max;
-		px4_param_t acro_yaw_max;
-
-		px4_param_t autostart_id;
+		px4::ParameterFloat roll_p;
+		px4::ParameterFloat roll_rate_p;
+		px4::ParameterFloat roll_rate_i;
+		px4::ParameterFloat roll_rate_d;
+		px4::ParameterFloat pitch_p;
+		px4::ParameterFloat pitch_rate_p;
+		px4::ParameterFloat pitch_rate_i;
+		px4::ParameterFloat pitch_rate_d;
+		px4::ParameterFloat yaw_p;
+		px4::ParameterFloat yaw_rate_p;
+		px4::ParameterFloat yaw_rate_i;
+		px4::ParameterFloat yaw_rate_d;
+		px4::ParameterFloat yaw_ff;
+		px4::ParameterFloat yaw_rate_max;
+
+		px4::ParameterFloat man_roll_max;
+		px4::ParameterFloat man_pitch_max;
+		px4::ParameterFloat man_yaw_max;
+		px4::ParameterFloat acro_roll_max;
+		px4::ParameterFloat acro_pitch_max;
+		px4::ParameterFloat acro_yaw_max;
+
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	perf_counter_t _loop_perf; /**< loop performance counter */
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
index b7fce5029..391558dcc 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
@@ -52,11 +52,38 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_control_task(-1),
 	_mavlink_fd(-1),
 
-/* publications */
+	/* publications */
 	_att_sp_pub(nullptr),
 	_local_pos_sp_pub(nullptr),
 	_global_vel_sp_pub(nullptr),
 
+	/* outgoing messages */
+	_att_sp_msg(),
+	_local_pos_sp_msg(),
+	_global_vel_sp_msg(),
+
+	_n(),
+
+	/* parameters */
+	_params_handles({
+		.thr_min	    = px4::ParameterFloat("MPC_THR_MIN", PARAM_MPC_THR_MIN_DEFAULT),
+		.thr_max	    = px4::ParameterFloat("MPC_THR_MAX", PARAM_MPC_THR_MAX_DEFAULT),
+		.z_p		    = px4::ParameterFloat("MPC_Z_P", PARAM_MPC_Z_P_DEFAULT),
+		.z_vel_p	    = px4::ParameterFloat("MPC_Z_VEL_P", PARAM_MPC_Z_VEL_P_DEFAULT),
+		.z_vel_i	    = px4::ParameterFloat("MPC_Z_VEL_I", PARAM_MPC_Z_VEL_I_DEFAULT),
+		.z_vel_d	    = px4::ParameterFloat("MPC_Z_VEL_D", PARAM_MPC_Z_VEL_D_DEFAULT),
+		.z_vel_max	    = px4::ParameterFloat("MPC_Z_VEL_MAX", PARAM_MPC_Z_VEL_MAX_DEFAULT),
+		.z_ff		    = px4::ParameterFloat("MPC_Z_FF", PARAM_MPC_Z_FF_DEFAULT),
+		.xy_p		    = px4::ParameterFloat("MPC_XY_P", PARAM_MPC_XY_P_DEFAULT),
+		.xy_vel_p	    = px4::ParameterFloat("MPC_XY_VEL_P", PARAM_MPC_XY_VEL_P_DEFAULT),
+		.xy_vel_i	    = px4::ParameterFloat("MPC_XY_VEL_I", PARAM_MPC_XY_VEL_I_DEFAULT),
+		.xy_vel_d	    = px4::ParameterFloat("MPC_XY_VEL_D", PARAM_MPC_XY_VEL_D_DEFAULT),
+		.xy_vel_max	    = px4::ParameterFloat("MPC_XY_VEL_MAX", PARAM_MPC_XY_VEL_MAX_DEFAULT),
+		.xy_ff		    = px4::ParameterFloat("MPC_XY_FF", PARAM_MPC_XY_FF_DEFAULT),
+		.tilt_max_air	    = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT),
+		.land_speed	    = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT),
+		.tilt_max_land	    = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT)
+	}),
 	_ref_alt(0.0f),
 	_ref_timestamp(0),
 
@@ -84,7 +111,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_global_vel_sp = _n.subscribe<px4_vehicle_global_velocity_setpoint>(0);
 
 
-
 	_params.pos_p.zero();
 	_params.vel_p.zero();
 	_params.vel_i.zero();
@@ -101,24 +127,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_vel_ff.zero();
 	_sp_move_rate.zero();
 
-	_params_handles.thr_min		= PX4_PARAM_INIT(MPC_THR_MIN);
-	_params_handles.thr_max		= PX4_PARAM_INIT(MPC_THR_MAX);
-	_params_handles.z_p		= PX4_PARAM_INIT(MPC_Z_P);
-	_params_handles.z_vel_p		= PX4_PARAM_INIT(MPC_Z_VEL_P);
-	_params_handles.z_vel_i		= PX4_PARAM_INIT(MPC_Z_VEL_I);
-	_params_handles.z_vel_d		= PX4_PARAM_INIT(MPC_Z_VEL_D);
-	_params_handles.z_vel_max	= PX4_PARAM_INIT(MPC_Z_VEL_MAX);
-	_params_handles.z_ff		= PX4_PARAM_INIT(MPC_Z_FF);
-	_params_handles.xy_p		= PX4_PARAM_INIT(MPC_XY_P);
-	_params_handles.xy_vel_p	= PX4_PARAM_INIT(MPC_XY_VEL_P);
-	_params_handles.xy_vel_i	= PX4_PARAM_INIT(MPC_XY_VEL_I);
-	_params_handles.xy_vel_d	= PX4_PARAM_INIT(MPC_XY_VEL_D);
-	_params_handles.xy_vel_max	= PX4_PARAM_INIT(MPC_XY_VEL_MAX);
-	_params_handles.xy_ff		= PX4_PARAM_INIT(MPC_XY_FF);
-	_params_handles.tilt_max_air	= PX4_PARAM_INIT(MPC_TILTMAX_AIR);
-	_params_handles.land_speed	= PX4_PARAM_INIT(MPC_LAND_SPEED);
-	_params_handles.tilt_max_land	= PX4_PARAM_INIT(MPC_TILTMAX_LND);
-
 	/* fetch initial parameter values */
 	parameters_update();
 
@@ -132,47 +140,25 @@ MulticopterPositionControl::~MulticopterPositionControl()
 int
 MulticopterPositionControl::parameters_update()
 {
-	PX4_PARAM_GET(_params_handles.thr_min, &_params.thr_min);
-	PX4_PARAM_GET(_params_handles.thr_max, &_params.thr_max);
-	PX4_PARAM_GET(_params_handles.tilt_max_air, &_params.tilt_max_air);
-	_params.tilt_max_air = math::radians(_params.tilt_max_air);
-	PX4_PARAM_GET(_params_handles.land_speed, &_params.land_speed);
-	PX4_PARAM_GET(_params_handles.tilt_max_land, &_params.tilt_max_land);
-	_params.tilt_max_land = math::radians(_params.tilt_max_land);
-
-	float v;
-	PX4_PARAM_GET(_params_handles.xy_p, &v);
-	_params.pos_p(0) = v;
-	_params.pos_p(1) = v;
-	PX4_PARAM_GET(_params_handles.z_p, &v);
-	_params.pos_p(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_p, &v);
-	_params.vel_p(0) = v;
-	_params.vel_p(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_p, &v);
-	_params.vel_p(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_i, &v);
-	_params.vel_i(0) = v;
-	_params.vel_i(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_i, &v);
-	_params.vel_i(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_d, &v);
-	_params.vel_d(0) = v;
-	_params.vel_d(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_d, &v);
-	_params.vel_d(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_vel_max, &v);
-	_params.vel_max(0) = v;
-	_params.vel_max(1) = v;
-	PX4_PARAM_GET(_params_handles.z_vel_max, &v);
-	_params.vel_max(2) = v;
-	PX4_PARAM_GET(_params_handles.xy_ff, &v);
-	v = math::constrain(v, 0.0f, 1.0f);
-	_params.vel_ff(0) = v;
-	_params.vel_ff(1) = v;
-	PX4_PARAM_GET(_params_handles.z_ff, &v);
-	v = math::constrain(v, 0.0f, 1.0f);
-	_params.vel_ff(2) = v;
+	_params.thr_min = _params_handles.thr_min.update();
+	_params.thr_max = _params_handles.thr_max.update();
+	_params.tilt_max_air = math::radians(_params_handles.tilt_max_air.update());
+	_params.land_speed = _params_handles.land_speed.update();
+	_params.tilt_max_land = math::radians(_params_handles.tilt_max_land.update());
+
+	_params.pos_p(0) = _params.pos_p(1) = _params_handles.xy_p.update();
+	_params.pos_p(2) = _params_handles.z_p.update();
+	_params.vel_p(0) = _params.vel_p(1) = _params_handles.xy_vel_p.update();
+	_params.vel_p(2) = _params_handles.z_vel_p.update();
+	_params.vel_i(0) = _params.vel_i(1) = _params_handles.xy_vel_i.update();
+	_params.vel_i(2) = _params_handles.z_vel_i.update();
+	_params.vel_d(0) = _params.vel_d(1) = _params_handles.xy_vel_d.update();
+	_params.vel_d(2) = _params_handles.z_vel_d.update();
+	_params.vel_max(0) = _params.vel_max(1) = _params_handles.xy_vel_max.update();
+	_params.vel_max(2) = _params_handles.z_vel_max.update();
+
+	_params.vel_ff(0) = _params.vel_ff(1) = math::constrain(_params_handles.xy_ff.update(), 0.0f, 1.0f);
+	_params.vel_ff(2) = math::constrain(_params_handles.z_ff.update(), 0.0f, 1.0f);
 
 	_params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f;
 
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
index 05bd1387b..245b5f5a9 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
@@ -107,25 +107,24 @@ protected:
 
 	px4::NodeHandle _n;
 
-
 	struct {
-		px4_param_t thr_min;
-		px4_param_t thr_max;
-		px4_param_t z_p;
-		px4_param_t z_vel_p;
-		px4_param_t z_vel_i;
-		px4_param_t z_vel_d;
-		px4_param_t z_vel_max;
-		px4_param_t z_ff;
-		px4_param_t xy_p;
-		px4_param_t xy_vel_p;
-		px4_param_t xy_vel_i;
-		px4_param_t xy_vel_d;
-		px4_param_t xy_vel_max;
-		px4_param_t xy_ff;
-		px4_param_t tilt_max_air;
-		px4_param_t land_speed;
-		px4_param_t tilt_max_land;
+		px4::ParameterFloat thr_min;
+		px4::ParameterFloat thr_max;
+		px4::ParameterFloat z_p;
+		px4::ParameterFloat z_vel_p;
+		px4::ParameterFloat z_vel_i;
+		px4::ParameterFloat z_vel_d;
+		px4::ParameterFloat z_vel_max;
+		px4::ParameterFloat z_ff;
+		px4::ParameterFloat xy_p;
+		px4::ParameterFloat xy_vel_p;
+		px4::ParameterFloat xy_vel_i;
+		px4::ParameterFloat xy_vel_d;
+		px4::ParameterFloat xy_vel_max;
+		px4::ParameterFloat xy_ff;
+		px4::ParameterFloat tilt_max_air;
+		px4::ParameterFloat land_speed;
+		px4::ParameterFloat tilt_max_land;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	struct {
diff --git a/src/modules/mc_pos_control_multiplatform/module.mk b/src/modules/mc_pos_control_multiplatform/module.mk
index 2852ebbec..9f7548e8a 100644
--- a/src/modules/mc_pos_control_multiplatform/module.mk
+++ b/src/modules/mc_pos_control_multiplatform/module.mk
@@ -41,3 +41,5 @@ SRCS		= mc_pos_control_main.cpp \
 		  mc_pos_control_start_nuttx.cpp \
 		  mc_pos_control.cpp \
 		  mc_pos_control_params.c
+
+EXTRACXXFLAGS = -Wframe-larger-than=1040
diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h
index fa4e1398e..996e56efb 100644
--- a/src/platforms/px4_defines.h
+++ b/src/platforms/px4_defines.h
@@ -54,6 +54,7 @@
 #ifdef __cplusplus
 #include "ros/ros.h"
 #endif
+
 /* Main entry point */
 #define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
 
@@ -61,48 +62,8 @@
 #define PX4_WARN ROS_WARN
 #define PX4_INFO ROS_INFO
 
-/* Topic Handle */
-#define PX4_TOPIC(_name) #_name
-
-/* Topic type */
-#define PX4_TOPIC_T(_name) px4::_name
-
-/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, _objptr);
-/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf);
-/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name));
-
-/* Parameter handle datatype */
-typedef const char *px4_param_t;
-
-/* Helper functions to set ROS params, only int and float supported */
-static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, int value)
-{
-	if (!ros::param::has(name)) {
-		ros::param::set(name, value);
-	}
-
-	return (px4_param_t)name;
-};
-static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
-{
-	if (!ros::param::has(name)) {
-		ros::param::set(name, value);
-	}
-
-	return (px4_param_t)name;
-};
-
-/* Initialize a param, in case of ROS the parameter is sent to the parameter server here */
-#define PX4_PARAM_INIT(_name) PX4_ROS_PARAM_SET(#_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
-
-/* Get value of parameter by handle */
-#define PX4_PARAM_GET(_handle, _destpt) ros::param::get(_handle, *_destpt)
-
 /* Get value of parameter by name, which is equal to the handle for ros */
-#define PX4_PARAM_GET_BYNAME(_name, _destpt) PX4_PARAM_GET(_name, _destpt)
+#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
 
 #define OK 0
 #define ERROR -1
@@ -150,29 +111,10 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 #define PX4_WARN warnx
 #define PX4_INFO warnx
 
-/* Topic Handle */
-#define PX4_TOPIC(_name) ORB_ID(_name)
-
-/* Topic type */
-#define PX4_TOPIC_T(_name) _name##_s
-
-/* Subscribe and providing a class method as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _objptr, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, _objptr, std::placeholders::_1), _interval)
-/* Subscribe and providing a function as callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
-/* Subscribe without a callback (do not use directly, use PX4_SUBSCRIBE instead) */
-#define PX4_SUBSCRIBE_NOCB(_nodehandle, _name, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), _interval)
-
 /* Parameter handle datatype */
 #include <systemlib/param/param.h>
 typedef param_t px4_param_t;
 
-/* Initialize a param, get param handle */
-#define PX4_PARAM_INIT(_name) param_find(#_name)
-
-/* Get value of parameter by handle */
-#define PX4_PARAM_GET(_handle, _destpt) param_get(_handle, _destpt)
-
 /* Get value of parameter by name */
 #define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
 
@@ -187,18 +129,6 @@ typedef param_t px4_param_t;
 
 /* Defines for all platforms */
 
-/* Shortcut for subscribing to topics
- * Overload the PX4_SUBSCRIBE macro to suppport methods, pure functions as callback and no callback at all
- */
-#define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME
-#define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC, PX4_SUBSCRIBE_NOCB)(__VA_ARGS__)
-
-/* Get a subscriber class type based on the topic name */
-#define PX4_SUBSCRIBER(_name) Subscriber<PX4_TOPIC_T(_name)>
-
-/* shortcut for advertising topics */
-#define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name))
-
 /* wrapper for 2d matrices */
 #define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
 
diff --git a/src/platforms/px4_parameter.h b/src/platforms/px4_parameter.h
new file mode 100644
index 000000000..1376320b1
--- /dev/null
+++ b/src/platforms/px4_parameter.h
@@ -0,0 +1,161 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_parameter.h
+ *
+ * PX4 Parameter API
+ */
+#pragma once
+#if defined(__PX4_ROS)
+/* includes when building for ros */
+#include "ros/ros.h"
+#include <string>
+#else
+/* includes when building for NuttX */
+#include <systemlib/param/param.h>
+#endif
+
+namespace px4
+{
+
+/**
+ * Parameter base class
+ */
+template <typename T>
+class __EXPORT ParameterBase
+{
+public:
+	ParameterBase(const char *name, T value) :
+		_name(name),
+		_value(value)
+	{}
+
+	virtual ~ParameterBase() {};
+
+	/**
+	 * Update the parameter value and return the value
+	 */
+	virtual T update() = 0;
+
+	/**
+	 * Get the current parameter value
+	 */
+	virtual T get() = 0;
+
+protected:
+	const char *_name; /** The parameter name */
+	T _value; /**< The current value of the parameter */
+
+};
+
+#if defined(__PX4_ROS)
+template <typename T>
+class Parameter :
+	public ParameterBase<T>
+{
+public:
+	Parameter(const char *name, T value) :
+		ParameterBase<T>(name, value)
+	{
+		if (!ros::param::has(name)) {
+			ros::param::set(name, value);
+		}
+
+		update();
+	}
+
+	~Parameter() {};
+
+	/**
+	 * Update the parameter value
+	 */
+	T update()
+	{
+		ros::param::get(this->_name, this->_value);
+		return get();
+	}
+
+	/**
+	 * Get the current parameter value
+	 */
+	T get()
+	{
+		return this->_value;
+	}
+
+};
+#else
+template <typename T>
+class __EXPORT Parameter :
+	public ParameterBase<T>
+{
+public:
+	Parameter(const char *name, T value) :
+		ParameterBase<T>(name, value),
+		_handle(param_find(name))
+	{
+		update();
+	}
+
+	~Parameter() {};
+
+	/**
+	 * Update the parameter value
+	 */
+	T update()
+	{
+		if (_handle != PARAM_INVALID) {
+			param_get(_handle, &(this->_value));
+		}
+
+		return get();
+	}
+
+	/**
+	 * Get the current parameter value
+	 */
+	T get()
+	{
+		return this->_value;
+	}
+
+protected:
+	param_t _handle;
+
+};
+#endif
+
+typedef Parameter<float> ParameterFloat;
+typedef Parameter<int> ParameterInt;
+}
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h
index d9cd7a3c1..eb8e964e7 100644
--- a/src/platforms/px4_publisher.h
+++ b/src/platforms/px4_publisher.h
@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file px4_nodehandle.h
+ * @file px4_publisher.h
  *
- * PX4 Middleware Wrapper Node Handle
+ * PX4 Publisher API, implements publishing of messages from a nodehandle
  */
 #pragma once
 #if defined(__PX4_ROS)
diff --git a/src/platforms/px4_subscriber.h b/src/platforms/px4_subscriber.h
index 6ca35b173..9b0ca1319 100644
--- a/src/platforms/px4_subscriber.h
+++ b/src/platforms/px4_subscriber.h
@@ -34,7 +34,7 @@
 /**
  * @file px4_subscriber.h
  *
- * PX4 Middleware Wrapper Subscriber
+ * PX4 Subscriber API, implements subscribing to messages from a nodehandle
  */
 #pragma once
 
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 0749c8e92..1098ec73b 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -55,8 +55,8 @@ public:
 		float yaw_scale;
 	};
 
-	void actuatorControlsCallback(const PX4_TOPIC_T(actuator_controls_0) &msg);
-	void actuatorArmedCallback(const PX4_TOPIC_T(actuator_armed) &msg);
+	void actuatorControlsCallback(const px4::actuator_controls_0 &msg);
+	void actuatorArmedCallback(const px4::actuator_armed &msg);
 
 private:
 
@@ -211,7 +211,7 @@ void MultirotorMixer::mix()
 	}
 }
 
-void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_controls_0) &msg)
+void MultirotorMixer::actuatorControlsCallback(const px4::actuator_controls_0 &msg)
 {
 	// read message
 	for (int i = 0; i < msg.NUM_ACTUATOR_CONTROLS; i++) {
@@ -266,7 +266,7 @@ int main(int argc, char **argv)
 	return 0;
 }
 
-void MultirotorMixer::actuatorArmedCallback(const PX4_TOPIC_T(actuator_armed) &msg)
+void MultirotorMixer::actuatorArmedCallback(const px4::actuator_armed &msg)
 {
 	_armed = msg.armed;
 }