forked from Archive/PX4-Autopilot
[UAVCANv1] snprintf and cleanup ram usage ~4KB
This commit is contained in:
parent
399815469f
commit
02a4d93c74
|
@ -94,7 +94,6 @@ public:
|
||||||
protected:
|
protected:
|
||||||
CanardInstance &_canard_instance;
|
CanardInstance &_canard_instance;
|
||||||
UavcanParamManager &_param_manager;
|
UavcanParamManager &_param_manager;
|
||||||
CanardRxSubscription _canard_sub;
|
|
||||||
const char *_subject_name;
|
const char *_subject_name;
|
||||||
uint8_t _instance {0};
|
uint8_t _instance {0};
|
||||||
|
|
||||||
|
|
|
@ -64,7 +64,7 @@ public:
|
||||||
|
|
||||||
while (curSubj != NULL) {
|
while (curSubj != NULL) {
|
||||||
char uavcan_param[90];
|
char uavcan_param[90];
|
||||||
sprintf(uavcan_param, "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
|
snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
|
||||||
|
|
||||||
// Set _port_id from _uavcan_param
|
// Set _port_id from _uavcan_param
|
||||||
uavcan_register_Value_1_0 value;
|
uavcan_register_Value_1_0 value;
|
||||||
|
|
|
@ -185,11 +185,7 @@ private:
|
||||||
pthread_mutex_t _node_mutex;
|
pthread_mutex_t _node_mutex;
|
||||||
|
|
||||||
CanardRxSubscription _heartbeat_subscription;
|
CanardRxSubscription _heartbeat_subscription;
|
||||||
CanardRxSubscription _pnp_v1_subscription;
|
|
||||||
CanardRxSubscription _drone_srv_battery_subscription;
|
|
||||||
CanardRxSubscription _drone_srv_gps_subscription;
|
CanardRxSubscription _drone_srv_gps_subscription;
|
||||||
CanardRxSubscription _register_access_subscription;
|
|
||||||
CanardRxSubscription _register_list_subscription;
|
|
||||||
|
|
||||||
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
|
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
|
||||||
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
|
||||||
|
|
Loading…
Reference in New Issue