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uORB::Publication simplify and cleanup

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- base class is now template
 - drop linked list
 - virtualization no longer required
This commit is contained in:
Daniel Agar
2019-06-12 08:48:19 -04:00
committed by GitHub
parent 57fc6eb4b8
commit 79d4c09d59
26 changed files with 128 additions and 420 deletions
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src/modules/navigator/mission_block.cpp
+1 -6
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@@ -440,12 +440,7 @@ MissionBlock::issue_command(const mission_item_s &item)
// params[1] new value for selected actuator in ms 900...2000
actuators.control[(int)item.params[0]] = 1.0f / 2000 * -item.params[1];
if (_actuator_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &actuators);
} else {
_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
}
_actuator_pub.publish(actuators);
} else {
_action_start = hrt_absolute_time();