px4_module: use px4_atomic_t

src/drivers/batt_smbus/batt_smbus.cpp

@@ -132,13 +132,13 @@ int BATT_SMBUS::task_spawn(int argc, char *argv[])
 
 	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
 
-		if (_object == nullptr && (busid == BATT_SMBUS_BUS_ALL || bus_options[i].busid == busid)) {
+		if (!is_running() && (busid == BATT_SMBUS_BUS_ALL || bus_options[i].busid == busid)) {
 
 			SMBus *interface = new SMBus(bus_options[i].busnum, BATT_SMBUS_ADDR);
 			BATT_SMBUS *dev = new BATT_SMBUS(interface, bus_options[i].devpath);
 
 			// Successful read of device type, we've found our battery
-			_object = dev;
+			_object.store(dev);
 			_task_id = task_id_is_work_queue;
 
 			int result = dev->get_startup_info();

src/drivers/heater/heater.cpp

@@ -92,7 +92,7 @@ int Heater::controller_period(char *argv[])
 int Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running() && !_object) {
+	if (!is_running()) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -240,7 +240,7 @@ void Heater::initialize_trampoline(void *argv)
 		return;
 	}
 
-	_object = heater;
+	_object.store(heater);
 	heater->start();
 }
 

src/drivers/px4fmu/fmu.cpp

@@ -1008,7 +1008,7 @@ PX4FMU::cycle_trampoline(void *arg)
 			return;
 		}
 
-		_object = dev;
+		_object.store(dev);
 	}
 
 	dev->cycle();

src/drivers/rc_input/RCInput.cpp

@@ -189,7 +189,7 @@ RCInput::cycle_trampoline(void *arg)
 			return;
 		}
 
-		_object = dev;
+		_object.store(dev);
 	}
 
 	dev->cycle();