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Fix an architectural issue with the ORB that prevented publication from interrupt context.

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ORB topic advertisements are now global handles that can be used in any context.  It is still possible to open a topic node as a publisher, but it's not the default.  As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same.
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px4dev
2012-08-21 23:44:22 -07:00
parent 8c22e2a092
commit 88f0080a0f
21 changed files with 110 additions and 67 deletions
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apps/fixedwing_control/fixedwing_control.c
+1 -1
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@@ -675,7 +675,7 @@ int fixedwing_control_main(int argc, char *argv[])
/* Set up to publish fixed wing control messages */
struct fixedwing_control_s control;
int fixedwing_control_pub = orb_advertise(ORB_ID(fixedwing_control), &control);
orb_advert_t fixedwing_control_pub = orb_advertise(ORB_ID(fixedwing_control), &control);
/* Subscribe to global position, attitude and rc */
struct vehicle_global_position_s global_pos;