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mavlink: update orb_publish to uORB::Publication<>

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This commit is contained in:
Daniel Agar
2019-09-02 23:51:54 -05:00
committed by GitHub
parent 20e6adc4ca
commit f280977ed0
8 changed files with 15 additions and 51 deletions
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src/modules/mavlink/mavlink_mission.cpp
+1 -11
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@@ -76,11 +76,6 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
init_offboard_mission();
}
MavlinkMissionManager::~MavlinkMissionManager()
{
orb_unadvertise(_offboard_mission_pub);
}
void
MavlinkMissionManager::init_offboard_mission()
{
@@ -185,12 +180,7 @@ MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t coun
_my_dataman_id = _dataman_id;
/* mission state saved successfully, publish offboard_mission topic */
if (_offboard_mission_pub == nullptr) {
_offboard_mission_pub = orb_advertise(ORB_ID(mission), &mission);
} else {
orb_publish(ORB_ID(mission), _offboard_mission_pub, &mission);
}
_offboard_mission_pub.publish(mission);
return PX4_OK;