diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-03 14:43:03 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-03 14:43:03 +0100 |
| commit | 1c79f0cef1f21cff7935ddd7caf048fd96991eea (patch) | |
| tree | 21eb9fddf2ac136e8168b4e03a076c3e1e2ebb2a /src/examples/subscriber | |
| parent | 6a99b04fb74f6da3faea54c93d234a9b57d7bd0e (diff) | |
| download | px4-firmware-1c79f0cef1f21cff7935ddd7caf048fd96991eea.tar.gz px4-firmware-1c79f0cef1f21cff7935ddd7caf048fd96991eea.tar.bz2 px4-firmware-1c79f0cef1f21cff7935ddd7caf048fd96991eea.zip | |
improve param wrapper for ros, prepare for px4
Diffstat (limited to 'src/examples/subscriber')
| -rw-r--r-- | src/examples/subscriber/subscriber.cpp | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp index a8ecd4a7d..e52d661a9 100644 --- a/src/examples/subscriber/subscriber.cpp +++ b/src/examples/subscriber/subscriber.cpp @@ -74,13 +74,17 @@ PX4_MAIN_FUNCTION(subscriber) { */ px4::NodeHandle n; - /* Define a parameter */ - PX4_PARAM_INIT("SUB_INTERV", 100); + /* Define parameters */ + px4_param_t p_sub_interv = PX4_PARAM_INIT("SUB_INTERV", 100); + px4_param_t p_test_float = PX4_PARAM_INIT("SUB_TESTF", 3.14f); /* Read the parameter back for testing */ int32_t sub_interval; - PX4_PARAM_GET("SUB_INTERV", &sub_interval); + float test_float; + PX4_PARAM_GET(p_sub_interv, &sub_interval); PX4_INFO("Param SUB_INTERV = %d", sub_interval); + PX4_PARAM_GET(p_test_float, &test_float); + PX4_INFO("Param SUB_TESTF = %f", (double)test_float); /** * The subscribe() call is how you tell ROS that you want to receive messages @@ -97,7 +101,7 @@ PX4_MAIN_FUNCTION(subscriber) { * is the number of messages that will be buffered up before beginning to throw * away the oldest ones. */ - PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, 100); + PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback, sub_interval); PX4_SUBSCRIBE(n, rc_channels, rc_channels_callback2, 1000); PX4_SUBSCRIBE(n, rc_channels, RCHandler::callback, rchandler, 1000); PX4_INFO("subscribed"); |