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fw_pos_control_l1: update orb_publish to uORB::Publication<>

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This commit is contained in:
Daniel Agar
2019-09-02 11:30:30 -04:00
parent e83026f106
commit 7162000e80
2 changed files with 8 additions and 22 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -18
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@@ -531,12 +531,7 @@ FixedwingPositionControl::tecs_status_publish()
t.timestamp = hrt_absolute_time();
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
} else {
_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
}
_tecs_status_pub.publish(t);
}
void
@@ -560,12 +555,7 @@ FixedwingPositionControl::status_publish()
pos_ctrl_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_status), _pos_ctrl_status_pub, &pos_ctrl_status);
} else {
_pos_ctrl_status_pub = orb_advertise(ORB_ID(position_controller_status), &pos_ctrl_status);
}
_pos_ctrl_status_pub.publish(pos_ctrl_status);
}
void
@@ -581,12 +571,7 @@ FixedwingPositionControl::landing_status_publish()
pos_ctrl_landing_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_landing_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_landing_status), _pos_ctrl_landing_status_pub, &pos_ctrl_landing_status);
} else {
_pos_ctrl_landing_status_pub = orb_advertise(ORB_ID(position_controller_landing_status), &pos_ctrl_landing_status);
}
_pos_ctrl_landing_status_pub.publish(pos_ctrl_landing_status);
}
void