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sensors: use orb_publish_auto where possible

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Beat Küng 2016-06-29 10:45:11 +02:00 committed by Lorenz Meier
parent 4b0647d9c0
commit 4e2d0500a1
1 changed files with 13 additions and 39 deletions
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52
src/modules/sensors/sensors.cpp
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@ -1412,13 +1412,8 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
_airspeed.air_temperature_celsius = air_temperature_celsius;
_airspeed.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
/* announce the airspeed if needed, just publish else */
if (_airspeed_pub != nullptr) {
orb_publish(ORB_ID(airspeed), _airspeed_pub, &_airspeed);
} else {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &_airspeed);
}
int instance;
orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &_airspeed, &instance, ORB_PRIO_DEFAULT);
}
}
@ -1910,13 +1905,9 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
(diff_pres_pa_raw * 0.1f);
_diff_pres.temperature = -1000.0f;
/* announce the airspeed if needed, just publish else */
if (_diff_pres_pub != nullptr) {
orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres);
} else {
_diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres);
}
int instance;
orb_publish_auto(ORB_ID(differential_pressure), &_diff_pres_pub, &_diff_pres, &instance,
ORB_PRIO_DEFAULT);
}
#endif
@ -1929,13 +1920,8 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, ctrl.control[actuator_controls_s::INDEX_THROTTLE],
_armed, &_battery_status);
/* announce the battery status if needed, just publish else */
if (_battery_pub != nullptr) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
int instance;
orb_publish_auto(ORB_ID(battery_status), &_battery_pub, &_battery_status, &instance, ORB_PRIO_DEFAULT);
}
_last_adc = t;
@ -2134,12 +2120,8 @@ Sensors::rc_poll()
_rc.frame_drop_count = rc_input.rc_lost_frame_count;
/* publish rc_channels topic even if signal is invalid, for debug */
if (_rc_pub != nullptr) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
} else {
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
}
int instance;
orb_publish_auto(ORB_ID(rc_channels), &_rc_pub, &_rc, &instance, ORB_PRIO_DEFAULT);
/* only publish manual control if the signal is still present */
if (!signal_lost) {
@ -2214,12 +2196,8 @@ Sensors::rc_poll()
_parameters.rc_gear_th, _parameters.rc_gear_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub != nullptr) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
}
orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance,
ORB_PRIO_DEFAULT);
/* copy from mapped manual control to control group 3 */
struct actuator_controls_s actuator_group_3 = {};
@ -2236,12 +2214,8 @@ Sensors::rc_poll()
actuator_group_3.control[7] = manual.aux3;
/* publish actuator_controls_3 topic */
if (_actuator_group_3_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
} else {
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
}
orb_publish_auto(ORB_ID(actuator_controls_3), &_actuator_group_3_pub, &actuator_group_3, &instance,
ORB_PRIO_DEFAULT);
/* Update parameters from RC Channels (tuning with RC) if activated */
static hrt_abstime last_rc_to_param_map_time = 0;