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roboclaw update orb_publish usage to uORB::PublicationMulti<>

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Daniel Agar
2019-11-30 15:52:53 -05:00
parent 55a3128c7d
commit 7306767a9d
2 changed files with 3 additions and 9 deletions
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src/drivers/roboclaw/RoboClaw.cpp
+1 -8
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@@ -228,14 +228,7 @@ void RoboClaw::taskMain()
_wheelEncoderMsg[i].encoder_position = _encoderCounts[i];
_wheelEncoderMsg[i].speed = _motorSpeeds[i];
if (_wheelEncodersAdv[i] == nullptr) {
int instance;
_wheelEncodersAdv[i] = orb_advertise_multi(ORB_ID(wheel_encoders), &_wheelEncoderMsg[i],
&instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(wheel_encoders), _wheelEncodersAdv[i], &_wheelEncoderMsg[i]);
}
_wheelEncodersAdv[i].publish(_wheelEncoderMsg[i]);
}
} else {