From 45a53726d6594f6285243c1f1198fa431958e1c5 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 14 Oct 2019 18:49:37 +0200
Subject: [PATCH] LandDetector: switch to uORB::Publication

---
 src/modules/land_detector/LandDetector.cpp | 5 +----
 src/modules/land_detector/LandDetector.h   | 3 ++-
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index 2235aeb615..b9fd50c9a4 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -81,7 +81,6 @@ void LandDetector::Run()
 
 	// publish at 1 Hz, very first time, or when the result has changed
 	if ((hrt_elapsed_time(&_land_detected.timestamp) >= 1_s) ||
-	    (_land_detected_pub == nullptr) ||
 	    (_land_detected.landed != landDetected) ||
 	    (_land_detected.freefall != freefallDetected) ||
 	    (_land_detected.maybe_landed != maybe_landedDetected) ||
@@ -102,9 +101,7 @@ void LandDetector::Run()
 		_land_detected.alt_max = alt_max;
 		_land_detected.in_ground_effect = in_ground_effect;
 
-		int instance;
-		orb_publish_auto(ORB_ID(vehicle_land_detected), &_land_detected_pub, &_land_detected,
-				 &instance, ORB_PRIO_DEFAULT);
+		_vehicle_land_detected_pub.publish(_land_detected);
 	}
 
 	// set the flight time when disarming (not necessarily when landed, because all param changes should
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index 2a6958db10..b4a84fcb79 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -54,6 +54,7 @@
 #include <px4_module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_bias.h>
@@ -157,7 +158,7 @@ protected:
 	};
 	vehicle_local_position_s _vehicle_local_position{};
 
-	orb_advert_t _land_detected_pub{nullptr};
+	uORB::Publication<vehicle_land_detected_s> _vehicle_land_detected_pub{ORB_ID(vehicle_land_detected)};
 
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};