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

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This commit is contained in:
Daniel Agar
2019-11-30 15:52:53 -05:00
parent ec5730bb89
commit 6f512cc2f1
6 changed files with 10 additions and 32 deletions
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src/lib/drivers/airspeed/airspeed.cpp
-12
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@@ -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;
}