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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/multirotor_pos_control/multirotor_pos_control.c
+1 -1
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@@ -89,7 +89,7 @@ mpc_thread_main(int argc, char *argv[])
int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
/* publish attitude setpoint */
int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
while (1) {
/* get a local copy of the vehicle state */