From 349739b81256835a03d4ea25df1eccf601df70b3 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 30 Nov 2019 12:34:59 -0500
Subject: [PATCH] gps driver update orb_publish usage to
 uORB::PublicationMulti<>

---
 src/drivers/gps/gps.cpp | 18 +++++++-----------
 1 file changed, 7 insertions(+), 11 deletions(-)

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 5c5f649c7b..c4647756c4 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -54,6 +54,7 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 #include <uORB/PublicationQueued.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/gps_dump.h>
 #include <uORB/topics/gps_inject_data.h>
@@ -161,11 +162,8 @@ private:
 	vehicle_gps_position_s		_report_gps_pos{};				///< uORB topic for gps position
 	satellite_info_s		*_p_report_sat_info{nullptr};			///< pointer to uORB topic for satellite info
 
-	orb_advert_t			_report_gps_pos_pub{nullptr};			///< uORB pub for gps position
-	orb_advert_t			_report_sat_info_pub{nullptr};			///< uORB pub for satellite info
-
-	int				_gps_orb_instance{-1};				///< uORB multi-topic instance
-	int				_gps_sat_orb_instance{-1};			///< uORB multi-topic instance for satellite info
+	uORB::PublicationMulti<vehicle_gps_position_s>	_report_gps_pos_pub{ORB_ID(vehicle_gps_position)};	///< uORB pub for gps position
+	uORB::PublicationMulti<satellite_info_s>	_report_sat_info_pub{ORB_ID(satellite_info)};		///< uORB pub for satellite info
 
 	float				_rate{0.0f};					///< position update rate
 	float				_rate_rtcm_injection{0.0f};			///< RTCM message injection rate
@@ -837,8 +835,6 @@ GPS::run()
 		::close(_serial_fd);
 		_serial_fd = -1;
 	}
-
-	orb_unadvertise(_report_gps_pos_pub);
 }
 
 int
@@ -946,8 +942,7 @@ void
 GPS::publish()
 {
 	if (_instance == Instance::Main || _is_gps_main_advertised) {
-		orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance,
-				 ORB_PRIO_DEFAULT);
+		_report_gps_pos_pub.publish(_report_gps_pos);
 		// Heading/yaw data can be updated at a lower rate than the other navigation data.
 		// The uORB message definition requires this data to be set to a NAN if no new valid data is available.
 		_report_gps_pos.heading = NAN;
@@ -959,8 +954,9 @@ void
 GPS::publishSatelliteInfo()
 {
 	if (_instance == Instance::Main) {
-		orb_publish_auto(ORB_ID(satellite_info), &_report_sat_info_pub, _p_report_sat_info, &_gps_sat_orb_instance,
-				 ORB_PRIO_DEFAULT);
+		if (_p_report_sat_info != nullptr) {
+			_report_sat_info_pub.publish(*_p_report_sat_info);
+		}
 
 	} else {
 		//we don't publish satellite info for the secondary gps