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fmu & px4io:Use uORB Publish Auto

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This commit is contained in:
David Sidrane
2018-07-17 08:53:29 +02:00
committed by Lorenz Meier
parent 33c9459ebe
commit a7a1607689
2 changed files with 4 additions and 16 deletions
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src/drivers/px4fmu/fmu.cpp
+2 -8
View File
@@ -1749,14 +1749,8 @@ PX4FMU::cycle()
#endif // RC_SERIAL_PORT
if (rc_updated) {
/* lazily advertise on first publication */
if (_to_input_rc == nullptr) {
int instance = _class_instance;
_to_input_rc = orb_advertise_multi(ORB_ID(input_rc), &_rc_in, &instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(input_rc), _to_input_rc, &_rc_in);
}
int instance = _class_instance;
orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &_rc_in, &instance, ORB_PRIO_DEFAULT);
} else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1000 * 1000)) {
_rc_scan_locked = false;
src/drivers/px4io/px4io.cpp
+2 -8
View File
@@ -1870,14 +1870,8 @@ PX4IO::io_publish_raw_rc()
}
}
/* lazily advertise on first publication */
if (_to_input_rc == nullptr) {
_to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val);
} else {
orb_publish(ORB_ID(input_rc), _to_input_rc, &rc_val);
}
int instance = 0;
orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &rc_val, &instance, ORB_PRIO_HIGH);
return OK;
}