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Use ModuleParams instead of old param funcs

This commit is contained in:
Avionics Anonymous 2020-10-25 14:48:53 -04:00 committed by Lorenz Meier
parent cc96468fad
commit 437a1c6db1
2 changed files with 14 additions and 30 deletions
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23
src/drivers/uavcan/rgbled.cpp
View File

@ -32,9 +32,9 @@
****************************************************************************/
#include "rgbled.hpp"
#include <parameters/param.h>
UavcanRGBController::UavcanRGBController(uavcan::INode &node) :
ModuleParams(nullptr),
_node(node),
_uavcan_pub_lights_cmd(node),
_timer(node)
@ -44,18 +44,6 @@ UavcanRGBController::UavcanRGBController(uavcan::INode &node) :
int UavcanRGBController::init()
{
// Get parameters
int32_t i = 0;
param_get(param_find("UAVCAN_LGT_ANTCL"), &i);
_mode_anti_col = (light_control_mode)i;
param_get(param_find("UAVCAN_LGT_STROB"), &i);
_mode_strobe = (light_control_mode)i;
param_get(param_find("UAVCAN_LGT_NAV"), &i);
_mode_nav = (light_control_mode)i;
param_get(param_find("UAVCAN_LGT_LAND"), &i);
_mode_land = (light_control_mode)i;
// Setup timer and call back function for periodic updates
_timer.setCallback(TimerCbBinder(this, &UavcanRGBController::periodic_update));
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
@ -144,6 +132,7 @@ void UavcanRGBController::periodic_update(const uavcan::TimerEvent &)
/* Determine the current control mode
* If a light's control mode config >= current control mode, the light will be enabled
* Logic must match UAVCAN_LGT_* param values.
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
@ -165,22 +154,22 @@ void UavcanRGBController::periodic_update(const uavcan::TimerEvent &)
// Beacons
cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_ANTI_COLLISION;
cmd.color = brightness_to_rgb565(_mode_anti_col >= control_mode ? 255 : 0);
cmd.color = brightness_to_rgb565(_param_mode_anti_col.get() >= control_mode ? 255 : 0);
cmds.commands.push_back(cmd);
// Strobes
cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_STROBE;
cmd.color = brightness_to_rgb565(_mode_strobe >= control_mode ? 255 : 0);
cmd.color = brightness_to_rgb565(_param_mode_strobe.get() >= control_mode ? 255 : 0);
cmds.commands.push_back(cmd);
// Nav lights
cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_RIGHT_OF_WAY;
cmd.color = brightness_to_rgb565(_mode_nav >= control_mode ? 255 : 0);
cmd.color = brightness_to_rgb565(_param_mode_nav.get() >= control_mode ? 255 : 0);
cmds.commands.push_back(cmd);
// Landing lights
cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_LANDING;
cmd.color = brightness_to_rgb565(_mode_land >= control_mode ? 255 : 0);
cmd.color = brightness_to_rgb565(_param_mode_land.get() >= control_mode ? 255 : 0);
cmds.commands.push_back(cmd);
}
}

21
src/drivers/uavcan/rgbled.hpp
View File

@ -39,8 +39,9 @@
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include <lib/led/led.h>
#include <px4_platform_common/module_params.h>
class UavcanRGBController
class UavcanRGBController : public ModuleParams
{
public:
UavcanRGBController(uavcan::INode &node);
@ -68,16 +69,10 @@ private:
LedController _led_controller;
// Enum defining light activation condition. Must match UAVCAN_LGT_* param values.
enum light_control_mode {
ALWAYS_OFF = 0,
PREARMED,
ARMED,
ALWAYS_ON
};
light_control_mode _mode_anti_col{ALWAYS_OFF};
light_control_mode _mode_strobe{ALWAYS_OFF};
light_control_mode _mode_nav{ALWAYS_OFF};
light_control_mode _mode_land{ALWAYS_OFF};
DEFINE_PARAMETERS(
(ParamInt<px4::params::UAVCAN_LGT_ANTCL>) _param_mode_anti_col,
(ParamInt<px4::params::UAVCAN_LGT_STROB>) _param_mode_strobe,
(ParamInt<px4::params::UAVCAN_LGT_NAV>) _param_mode_nav,
(ParamInt<px4::params::UAVCAN_LGT_LAND>) _param_mode_land
)
};