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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_ulog.cpp
+1 -9
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@@ -68,9 +68,6 @@ MavlinkULog::MavlinkULog(int datarate, float max_rate_factor, uint8_t target_sys
MavlinkULog::~MavlinkULog()
{
if (_ulog_stream_ack_pub) {
orb_unadvertise(_ulog_stream_ack_pub);
}
}
void MavlinkULog::start_ack_received()
@@ -257,10 +254,5 @@ void MavlinkULog::publish_ack(uint16_t sequence)
ack.timestamp = hrt_absolute_time();
ack.sequence = sequence;
if (_ulog_stream_ack_pub == nullptr) {
_ulog_stream_ack_pub = orb_advertise(ORB_ID(ulog_stream_ack), &ack);
} else {
orb_publish(ORB_ID(ulog_stream_ack), _ulog_stream_ack_pub, &ack);
}
_ulog_stream_ack_pub.publish(ack);
}