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Fixes to fixed wing control example, fixes to the way the control lib publishes estimates

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Lorenz Meier
2013-07-04 15:46:53 +02:00
parent b01673d1d8
commit d72e9929aa
3 changed files with 14 additions and 14 deletions
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src/modules/controllib/block/UOrbPublication.hpp
+6 -6
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@@ -60,11 +60,15 @@ public:
List<UOrbPublicationBase *> * list,
const struct orb_metadata *meta) :
_meta(meta),
_handle() {
_handle(-1) {
if (list != NULL) list->add(this);
}
void update() {
orb_publish(getMeta(), getHandle(), getDataVoidPtr());
if (_handle > 0) {
orb_publish(getMeta(), getHandle(), getDataVoidPtr());
} else {
setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
}
}
virtual void *getDataVoidPtr() = 0;
virtual ~UOrbPublicationBase() {
@@ -99,10 +103,6 @@ public:
const struct orb_metadata *meta) :
T(), // initialize data structure to zero
UOrbPublicationBase(list, meta) {
// It is important that we call T()
// before we publish the data, so we
// call this here instead of the base class
setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
}
virtual ~UOrbPublication() {}
/*