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rc_input: move to uORB::PublicationMulti<>

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This commit is contained in:
Daniel Agar
2019-09-30 18:41:23 -04:00
parent 6941077218
commit 2989ce981c
2 changed files with 4 additions and 5 deletions
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src/drivers/rc_input/RCInput.cpp
+1 -4
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@@ -71,8 +71,6 @@ RCInput::RCInput(bool run_as_task, char *device) :
RCInput::~RCInput() RCInput::~RCInput()
{ {
orb_unadvertise(_to_input_rc);
#ifdef RC_SERIAL_PORT #ifdef RC_SERIAL_PORT
dsm_deinit(); dsm_deinit();
#endif #endif
@@ -674,8 +672,7 @@ RCInput::cycle()
if (rc_updated) { if (rc_updated) {
perf_count(_publish_interval_perf); perf_count(_publish_interval_perf);
int instance; _to_input_rc.publish(_rc_in);
orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &_rc_in, &instance, ORB_PRIO_DEFAULT);
} else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1_s)) { } else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1_s)) {
_rc_scan_locked = false; _rc_scan_locked = false;
src/drivers/rc_input/RCInput.hpp
+3 -1
View File
@@ -49,6 +49,8 @@
#include <px4_log.h> #include <px4_log.h>
#include <px4_module.h> #include <px4_module.h>
#include <px4_workqueue.h> #include <px4_workqueue.h>
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/adc_report.h> #include <uORB/topics/adc_report.h>
#include <uORB/topics/input_rc.h> #include <uORB/topics/input_rc.h>
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
@@ -129,7 +131,7 @@ private:
float _analog_rc_rssi_volt{-1.0f}; float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false}; 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}; int _rcs_fd{-1};
char _device[20] {}; ///< device / serial port path char _device[20] {}; ///< device / serial port path