fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 15:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: update orb_publish to uORB::Publication<>

Browse Source
This commit is contained in:
Daniel Agar
2019-09-02 20:44:03 -04:00
committed by GitHub
parent c8f77d438d
commit 20e6adc4ca
5 changed files with 33 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/voted_sensors_update.cpp
+2 -12
View File
@@ -1066,12 +1066,7 @@ void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s
if (_corrections_changed) {
_corrections.timestamp = hrt_absolute_time();
if (_sensor_correction_pub == nullptr) {
_sensor_correction_pub = orb_advertise(ORB_ID(sensor_correction), &_corrections);
} else {
orb_publish(ORB_ID(sensor_correction), _sensor_correction_pub, &_corrections);
}
_sensor_correction_pub.publish(_corrections);
_corrections_changed = false;
}
@@ -1080,12 +1075,7 @@ void VotedSensorsUpdate::sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s
if (_selection_changed) {
_selection.timestamp = hrt_absolute_time();
if (_sensor_selection_pub == nullptr) {
_sensor_selection_pub = orb_advertise(ORB_ID(sensor_selection), &_selection);
} else {
orb_publish(ORB_ID(sensor_selection), _sensor_selection_pub, &_selection);
}
_sensor_selection_pub.publish(_selection);
_selection_changed = false;
}