drivers/px4io move to uORB::Subscription

[dagar]

This should be tested on boards with a px4io (pixhawk, pixhawk 3 pro, pixhawk 4).

[Junkim3DR]

Tested on Pixhawk 4 mini v5

Modes Tested

• Position Mode: Good.
• Altitude Mode: Good.
• Stabilized Mode: Good.
• Mission Plan Mode (Automated): Good.
• RTL: Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Logs:
PR 12222

• https://review.px4.io/plot_app?log=4d1c9f38-60e5-4166-a5c0-f8f1229e9ab8

Master

• https://review.px4.io/plot_app?log=b014c23c-c92a-45fd-8bc7-062bac5d909e

[dannyfpv]

Tested on Pixhawk 4 V5
Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

• Procedure
  Arm and Take off in stabilized mode, position mode, altitude, and mission mode

Notes:
No issues noted, good flight in general.

pr Log:

https://review.px4.io/plot_app?log=23a388a1-6012-4766-9d2c-060e82a3b26d

master log:

https://review.px4.io/plot_app?log=71a5aa74-1e6e-4c9c-ae20-2baff55f3daf

[julianoes]

What's the reason that _t_actuator_controls_0 is not included?

[dagar]

What's the reason that _t_actuator_controls_0 is not included?

It's the single subscription used for polling.

[jorge789]

Tested on PixRacer V4

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.
Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoints activate RTL and see landing behavior.

Notes:
No issues noted good flight in general.

Logs:
https://review.px4.io/plot_app?log=ed875697-5ab3-4076-9be3-eed30fd44085

Log
https://review.px4.io/plot_app?log=bd3bb4eb-33eb-4d42-a695-c3bb1e3949d9
Note:
**Vehicle was unable to get position mode, satellites were not enough.

Loaded master to see if the issue persists but this was not the case, the vehicle was ready to fly in position in less than 30 seconds.**

MASTER COMPARISON
https://review.px4.io/plot_app?log=6708497f-314e-4e35-a43e-2c3d1f6c59d7

[julianoes]

Then I'm ok with this.