From 6a4835bbccae70e9673d6d0f831be67e25c4c9b8 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 30 Jan 2021 21:09:11 -0500
Subject: [PATCH] sensors: vehicle_magnetometer combine extra
 _vehicle_magnetometer_pub

---
 .../sensors/vehicle_magnetometer/VehicleMagnetometer.cpp    | 6 +++---
 .../sensors/vehicle_magnetometer/VehicleMagnetometer.hpp    | 3 +--
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
index 3258750af8..f7c08f68f4 100644
--- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
@@ -308,7 +308,7 @@ void VehicleMagnetometer::Run()
 					// advertise outputs in order if publishing all
 					if (!_param_sens_mag_mode.get()) {
 						for (int instance = 0; instance < uorb_index; instance++) {
-							_vehicle_magnetometer_multi_pub[instance].advertise();
+							_vehicle_magnetometer_pub[instance].advertise();
 						}
 					}
 
@@ -463,11 +463,11 @@ void VehicleMagnetometer::Publish(uint8_t instance, bool multi)
 		out.timestamp = hrt_absolute_time();
 
 		if (multi) {
-			_vehicle_magnetometer_multi_pub[instance].publish(out);
+			_vehicle_magnetometer_pub[instance].publish(out);
 
 		} else {
 			// otherwise only ever publish the first instance
-			_vehicle_magnetometer_pub.publish(out);
+			_vehicle_magnetometer_pub[0].publish(out);
 		}
 
 		_last_publication_timestamp[instance] = out.timestamp;
diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
index 8b16f2402b..ca62cf8b9b 100644
--- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
+++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
@@ -92,8 +92,7 @@ private:
 
 	uORB::Publication<sensor_preflight_mag_s> _sensor_preflight_mag_pub{ORB_ID(sensor_preflight_mag)};
 
-	uORB::Publication<vehicle_magnetometer_s> _vehicle_magnetometer_pub{ORB_ID(vehicle_magnetometer)};
-	uORB::PublicationMulti<vehicle_magnetometer_s> _vehicle_magnetometer_multi_pub[MAX_SENSOR_COUNT] {
+	uORB::PublicationMulti<vehicle_magnetometer_s> _vehicle_magnetometer_pub[MAX_SENSOR_COUNT] {
 		{ORB_ID(vehicle_magnetometer)},
 		{ORB_ID(vehicle_magnetometer)},
 		{ORB_ID(vehicle_magnetometer)},