From 2989ce981cfee34f7900a67cb8d50bc5d51fc65a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 30 Sep 2019 16:34:07 -0400
Subject: [PATCH] rc_input: move to uORB::PublicationMulti<>

---
 src/drivers/rc_input/RCInput.cpp | 5 +----
 src/drivers/rc_input/RCInput.hpp | 4 +++-
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
index 58fe8002d8..b3ad8116bf 100644
--- a/src/drivers/rc_input/RCInput.cpp
+++ b/src/drivers/rc_input/RCInput.cpp
@@ -71,8 +71,6 @@ RCInput::RCInput(bool run_as_task, char *device) :
 
 RCInput::~RCInput()
 {
-	orb_unadvertise(_to_input_rc);
-
 #ifdef RC_SERIAL_PORT
 	dsm_deinit();
 #endif
@@ -674,8 +672,7 @@ RCInput::cycle()
 		if (rc_updated) {
 			perf_count(_publish_interval_perf);
 
-			int instance;
-			orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &_rc_in, &instance, ORB_PRIO_DEFAULT);
+			_to_input_rc.publish(_rc_in);
 
 		} else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1_s)) {
 			_rc_scan_locked = false;
diff --git a/src/drivers/rc_input/RCInput.hpp b/src/drivers/rc_input/RCInput.hpp
index d8e62d0d50..48cc8104c2 100644
--- a/src/drivers/rc_input/RCInput.hpp
+++ b/src/drivers/rc_input/RCInput.hpp
@@ -49,6 +49,8 @@
 #include <px4_log.h>
 #include <px4_module.h>
 #include <px4_workqueue.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/adc_report.h>
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/vehicle_command.h>
@@ -129,7 +131,7 @@ private:
 	float		_analog_rc_rssi_volt{-1.0f};
 	bool		_analog_rc_rssi_stable{false};
 
-	orb_advert_t	_to_input_rc{nullptr};
+	uORB::PublicationMulti<input_rc_s>	_to_input_rc{ORB_ID(input_rc)};
 
 	int		_rcs_fd{-1};
 	char		_device[20] {};					///< device / serial port path