From 6e90be1129a074682d481730c68a4805f757190a Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 27 Nov 2024 14:46:39 +0100
Subject: [PATCH] RPMCapture: switch to PublicationMulti to be compatible with
 the existing rpm drivers

---
 src/drivers/rpm_capture/RPMCapture.cpp | 1 +
 src/drivers/rpm_capture/RPMCapture.hpp | 6 +++---
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/drivers/rpm_capture/RPMCapture.cpp b/src/drivers/rpm_capture/RPMCapture.cpp
index e58b82f8ac..e750918886 100644
--- a/src/drivers/rpm_capture/RPMCapture.cpp
+++ b/src/drivers/rpm_capture/RPMCapture.cpp
@@ -90,6 +90,7 @@ bool RPMCapture::init()
 		success = true;
 	}
 
+	success = success && _rpm_pub.advertise();
 	return success;
 }
 
diff --git a/src/drivers/rpm_capture/RPMCapture.hpp b/src/drivers/rpm_capture/RPMCapture.hpp
index 63103ae955..7f7f4037ec 100644
--- a/src/drivers/rpm_capture/RPMCapture.hpp
+++ b/src/drivers/rpm_capture/RPMCapture.hpp
@@ -39,7 +39,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/Subscription.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/pwm_input.h>
 #include <uORB/topics/rpm.h>
 
@@ -72,8 +72,8 @@ private:
 
 	int _channel{-1};
 	uint32_t _rpm_capture_gpio{0};
-	uORB::Publication<pwm_input_s>	_pwm_input_pub{ORB_ID(pwm_input)};
-	uORB::Publication<rpm_s>	_rpm_pub{ORB_ID(rpm)};
+	uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
+	uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)};
 
 	hrt_abstime _hrt_timestamp{0};
 	hrt_abstime _hrt_timestamp_prev{0};