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RPMCapture: switch to PublicationMulti to be compatible with the existing rpm drivers

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This commit is contained in:
Matthias Grob 2024-11-27 14:46:39 +01:00
parent 41b55724bc
commit a60591378c
2 changed files with 4 additions and 3 deletions
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1
src/drivers/rpm_capture/RPMCapture.cpp
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@ -90,6 +90,7 @@ bool RPMCapture::init()
success = true;
}
success = success && _rpm_pub.advertise();
return success;
}

6
src/drivers/rpm_capture/RPMCapture.hpp
View File

@ -39,7 +39,7 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/pwm_input.h>
#include <uORB/topics/rpm.h>
@ -72,8 +72,8 @@ private:
int _channel{-1};
uint32_t _rpm_capture_gpio{0};
uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
uORB::Publication<rpm_s> _rpm_pub{ORB_ID(rpm)};
uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)};
hrt_abstime _hrt_timestamp{0};
hrt_abstime _hrt_timestamp_prev{0};