From 2d124852c1881d5b993b3c2ec9f7a79e1e03da1b Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 28 Jan 2015 07:58:42 +0100 Subject: propagate uorb contants change through all modules/drivers --- src/drivers/px4fmu/fmu.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) (limited to 'src/drivers/px4fmu/fmu.cpp') diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 2552e7e6a..db6b34f99 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -142,11 +142,11 @@ private: uint32_t _groups_required; uint32_t _groups_subscribed; - int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS]; - actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS]; - orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS]; + int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; + actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; + orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; orb_id_t _actuator_output_topic; - pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS]; + pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS]; unsigned _poll_fds_num; pwm_limit_t _pwm_limit; @@ -514,7 +514,7 @@ PX4FMU::subscribe() uint32_t sub_groups = _groups_required & ~_groups_subscribed; uint32_t unsub_groups = _groups_subscribed & ~_groups_required; _poll_fds_num = 0; - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (sub_groups & (1 << i)) { warnx("subscribe to actuator_controls_%d", i); _control_subs[i] = orb_subscribe(_control_topics[i]); @@ -591,7 +591,7 @@ PX4FMU::task_main() } debug("adjusted actuator update interval to %ums", update_rate_in_ms); - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { orb_set_interval(_control_subs[i], update_rate_in_ms); } @@ -618,7 +618,7 @@ PX4FMU::task_main() /* get controls for required topics */ unsigned poll_id = 0; - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { if (_poll_fds[poll_id].revents & POLLIN) { orb_copy(_control_topics[i], _control_subs[i], &_controls[i]); @@ -751,7 +751,7 @@ PX4FMU::task_main() } - for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) { + for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { if (_control_subs[i] > 0) { ::close(_control_subs[i]); _control_subs[i] = -1; -- cgit v1.2.3