From a7a1607689b5324d9ca0d34814f8245c93c806d5 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Sat, 14 Jul 2018 07:52:50 -0700 Subject: [PATCH] fmu & px4io:Use uORB Publish Auto --- src/drivers/px4fmu/fmu.cpp | 10 ++-------- src/drivers/px4io/px4io.cpp | 10 ++-------- 2 files changed, 4 insertions(+), 16 deletions(-) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index a93c8dad7f..61fcdf8d52 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -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; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 4dd757a7ce..416c49e32c 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -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; }