Added uORB tiny pub/sub for usage without struct on stack.

3 files changed, 17 insertions, 17 deletions

diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
index 6768bfa7e..f3cd87728 100644
--- a/src/modules/controllib/block/Block.cpp
+++ b/src/modules/controllib/block/Block.cpp
@@ -101,7 +101,7 @@ void Block::updateParams()
 
 void Block::updateSubscriptions()
 {
-	uORB::SubscriptionBase *sub = getSubscriptions().getHead();
+	uORB::SubscriptionNode *sub = getSubscriptions().getHead();
 	int count = 0;
 
 	while (sub != NULL) {
@@ -119,7 +119,7 @@ void Block::updateSubscriptions()
 
 void Block::updatePublications()
 {
-	uORB::PublicationBase *pub = getPublications().getHead();
+	uORB::PublicationNode *pub = getPublications().getHead();
 	int count = 0;
 
 	while (pub != NULL) {
diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
index 736698e21..42ca3a742 100644
--- a/src/modules/controllib/block/Block.hpp
+++ b/src/modules/controllib/block/Block.hpp
@@ -46,8 +46,8 @@
 
 // forward declaration
 namespace uORB {
-	class SubscriptionBase;
-	class PublicationBase;
+	class SubscriptionNode;
+	class PublicationNode;
 }
 
 namespace control
@@ -83,15 +83,15 @@ public:
 protected:
 // accessors
 	SuperBlock *getParent() { return _parent; }
-	List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
-	List<uORB::PublicationBase *> & getPublications() { return _publications; }
+	List<uORB::SubscriptionNode *> & getSubscriptions() { return _subscriptions; }
+	List<uORB::PublicationNode *> & getPublications() { return _publications; }
 	List<BlockParamBase *> & getParams() { return _params; }
 // attributes
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt;
-	List<uORB::SubscriptionBase *> _subscriptions;
-	List<uORB::PublicationBase *> _publications;
+	List<uORB::SubscriptionNode *> _subscriptions;
+	List<uORB::PublicationNode *> _publications;
 	List<BlockParamBase *> _params;
 };
 
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
index e8fecef0d..454d0db19 100644
--- a/src/modules/controllib/uorb/blocks.cpp
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -82,16 +82,16 @@ void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
 BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
 	SuperBlock(parent, name),
 	// subscriptions
-	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
-	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
-	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
-	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
-	_missionCmd(&getSubscriptions(), ORB_ID(position_setpoint_triplet), 20),
-	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
-	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
-	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	_att(ORB_ID(vehicle_attitude), 20, &getSubscriptions()),
+	_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, &getSubscriptions()),
+	_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, &getSubscriptions()),
+	_pos(ORB_ID(vehicle_global_position), 20, &getSubscriptions()),
+	_missionCmd(ORB_ID(position_setpoint_triplet), 20, &getSubscriptions()),
+	_manual(ORB_ID(manual_control_setpoint), 20, &getSubscriptions()),
+	_status(ORB_ID(vehicle_status), 20, &getSubscriptions()),
+	_param_update(ORB_ID(parameter_update), 1000, &getSubscriptions()), // limit to 1 Hz
 	// publications
-	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
+	_actuators(ORB_ID(actuator_controls_0), &getPublications())
 {
 }