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create uORB::PublicationMulti for multi publications

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Daniel Agar
2019-08-08 21:01:56 -04:00
parent 0a0c404a08
commit e8a11086eb
13 changed files with 193 additions and 69 deletions
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src/drivers/optical_flow/paw3902/PAW3902.hpp
+2 -2
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@@ -51,7 +51,7 @@
#include <lib/parameters/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/optical_flow.h>
/* Configuration Constants */
@@ -117,7 +117,7 @@ private:
bool changeMode(Mode newMode);
uORB::Publication<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
perf_counter_t _sample_perf;
perf_counter_t _interval_perf;