differential_pressure drivers update orb_publish usage to uORB::PublicationMulti<>

src/lib/drivers/airspeed/airspeed.cpp

@@ -63,7 +63,6 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_measure_interval(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
-	_airspeed_pub(nullptr),
 	_airspeed_orb_class_instance(-1),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
@@ -81,8 +80,6 @@ Airspeed::~Airspeed()
 		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
 	}
 
-	orb_unadvertise(_airspeed_pub);
-
 	// free perf counters
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
@@ -101,15 +98,6 @@ Airspeed::init()
 
 	/* advertise sensor topic, measure manually to initialize valid report */
 	measure();
-	differential_pressure_s arp = {};
-
-	/* measurement will have generated a report, publish */
-	_airspeed_pub = orb_advertise_multi(ORB_ID(differential_pressure), &arp, &_airspeed_orb_class_instance,
-					    ORB_PRIO_HIGH - _class_instance);
-
-	if (_airspeed_pub == nullptr) {
-		PX4_WARN("uORB started?");
-	}
 
 	return PX4_OK;
 }

src/lib/drivers/airspeed/airspeed.h

@@ -41,7 +41,7 @@
 #include <px4_platform_common/defines.h>
 #include <perf/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
-#include <uORB/uORB.h>
+#include <uORB/PublicationMulti.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 /* Default I2C bus */
@@ -78,7 +78,8 @@ protected:
 	bool			_collect_phase;
 	float			_diff_pres_offset;
 
-	orb_advert_t		_airspeed_pub;
+	uORB::PublicationMulti<differential_pressure_s>	_airspeed_pub{ORB_ID(differential_pressure)};
+
 	int			_airspeed_orb_class_instance;
 
 	int			_class_instance;