vtol_att_control_main: refactor callback handling

Author: MaEtUgR

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -254,41 +254,31 @@ VtolAttitudeControl::parameters_update()
 }
 
 void
-VtolAttitudeControl::update_registrations()
+VtolAttitudeControl::update_callbacks()
 {
 	mode current_vtol_mode = _vtol_type->get_mode();
 
 	switch (current_vtol_mode) {
 	case mode::TRANSITION_TO_FW:
 	case mode::TRANSITION_TO_MC:
 	case mode::ROTARY_WING:
-		register_mc_callbacks();
+		if (_vehicle_torque_setpoint_virtual_mc_sub.registerCallback()) {
+			_vehicle_torque_setpoint_virtual_fw_sub.unregisterCallback();
+		}
+
 		break;
 
 	case mode::FIXED_WING:
-		register_fw_callbacks();
+		if (_vehicle_torque_setpoint_virtual_fw_sub.registerCallback()) {
+			_vehicle_torque_setpoint_virtual_mc_sub.unregisterCallback();
+		}
+
 		break;
 	}
 
 	_previous_vtol_mode = current_vtol_mode;
 }
 
-void
-VtolAttitudeControl::register_mc_callbacks()
-{
-	if (_vehicle_torque_setpoint_virtual_mc_sub.registerCallback()) {
-		_vehicle_torque_setpoint_virtual_fw_sub.unregisterCallback();
-	}
-}
-
-void
-VtolAttitudeControl::register_fw_callbacks()
-{
-	if (_vehicle_torque_setpoint_virtual_fw_sub.registerCallback()) {
-		_vehicle_torque_setpoint_virtual_mc_sub.unregisterCallback();
-	}
-}
-
 void
 VtolAttitudeControl::Run()
 {
@@ -313,7 +303,7 @@ VtolAttitudeControl::Run()
 	if (!_initialized) {
 
 		if (_vtol_type->init()) {
-			update_registrations();
+			update_callbacks();
 			_initialized = true;
 
 		} else {
@@ -334,7 +324,7 @@ VtolAttitudeControl::Run()
 	mode current_vtol_mode = _vtol_type->get_mode();
 
 	if (current_vtol_mode != _previous_vtol_mode) {
-		update_registrations();
+		update_callbacks();
 	}
 
 	switch (current_vtol_mode) {

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -238,11 +238,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public Modul
 
 	void 		parameters_update();
 
-	void		update_registrations();
-
-	void		register_mc_callbacks();
-
-	void		register_fw_callbacks();
+	void		update_callbacks();
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::VT_TYPE>) _param_vt_type,