From 66b9ee2d24c0c91900fb270f4996305d8bac9b13 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Mon, 26 Dec 2016 12:10:57 +0100
Subject: [PATCH] UAVCAN: Make GPS module use the multi-topic facility so that
 a normal GPS and an UAVCAN GPS can co-exist and do not write on top of each
 other.

---
 src/modules/uavcan/sensors/gnss.cpp | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index fddd468315..1120171853 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -180,11 +180,8 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 	report.hdop = msg.pdop;
 	report.vdop = msg.pdop;
 
-	if (_report_pub != nullptr) {
-		orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &report);
-
-	} else {
-		_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &report);
-	}
-
+	// Publish to a multi-topic
+	int32_t gps_orb_instance;
+	orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_pub, &report, &gps_orb_instance,
+				 ORB_PRIO_HIGH);
 }