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battery: switch to PublicationMulti for battery_status

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This commit is contained in:
Matthias Grob
2020-09-01 10:25:03 +02:00
parent d06425d131
commit 1d562aaf4a
2 changed files with 6 additions and 11 deletions
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src/lib/battery/battery.cpp
+2 -7
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@@ -105,11 +105,6 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
updateParams();
}
Battery::~Battery()
{
orb_unadvertise(_battery_status_pub);
}
void
Battery::reset()
{
@@ -179,6 +174,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
const bool should_publish = (source == _params.source);
if (should_publish) {
_battery_status_pub.publish(_battery_status);
publish();
}
}
@@ -186,8 +182,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
void
Battery::publish()
{
int dummy; // We're not interested in the instance ID we get
orb_publish_auto(ORB_ID(battery_status), &_battery_status_pub, &_battery_status, &dummy);
_battery_status_pub.publish(_battery_status);
}
void