sensors: update orb_publish to uORB::Publication<>

src/modules/sensors/rc_update.cpp

@@ -39,9 +39,6 @@
 
 #include "rc_update.h"
 
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/manual_control_setpoint.h>
-
 using namespace sensors;
 
 RCUpdate::RCUpdate(const Parameters &parameters)
@@ -316,14 +313,13 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
 		_rc.frame_drop_count = rc_input.rc_lost_frame_count;
 
 		/* publish rc_channels topic even if signal is invalid, for debug */
-		int instance;
-		orb_publish_auto(ORB_ID(rc_channels), &_rc_pub, &_rc, &instance, ORB_PRIO_DEFAULT);
+		_rc_pub.publish(_rc);
 
 		/* only publish manual control if the signal is still present and was present once */
 		if (!signal_lost && rc_input.timestamp_last_signal > 0) {
 
 			/* initialize manual setpoint */
-			struct manual_control_setpoint_s manual = {};
+			manual_control_setpoint_s manual{};
 			/* set mode slot to unassigned */
 			manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
 			/* set the timestamp to the last signal time */
@@ -405,11 +401,10 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
 					    _parameters.rc_man_th, _parameters.rc_man_inv);
 
 			/* publish manual_control_setpoint topic */
-			orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance,
-					 ORB_PRIO_HIGH);
+			_manual_control_pub.publish(manual);
 
 			/* copy from mapped manual control to control group 3 */
-			struct actuator_controls_s actuator_group_3 = {};
+			actuator_controls_s actuator_group_3{};
 
 			actuator_group_3.timestamp = rc_input.timestamp_last_signal;
 
@@ -423,8 +418,7 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
 			actuator_group_3.control[7] = manual.aux3;
 
 			/* publish actuator_controls_3 topic */
-			orb_publish_auto(ORB_ID(actuator_controls_3), &_actuator_group_3_pub, &actuator_group_3, &instance,
-					 ORB_PRIO_DEFAULT);
+			_actuator_group_3_pub.publish(actuator_group_3);
 
 			/* Update parameters from RC Channels (tuning with RC) if activated */
 			if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {