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ina226 update orb_publish_auto usage to uORB::PublicationMulti<>

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This commit is contained in:
Daniel Agar
2019-11-30 12:37:26 -05:00
parent 92933d988b
commit fca029c84a
1 changed files with 4 additions and 5 deletions
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src/drivers/power_monitor/ina226/ina226.cpp
+4 -5
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@@ -47,7 +47,7 @@
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/power_monitor.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -164,7 +164,7 @@ private:
int _measure_interval{0};
bool _collect_phase{false};
orb_advert_t _power_monitor_topic{nullptr};
uORB::PublicationMulti<power_monitor_s> _power_monitor_topic{ORB_ID(power_monitor)};
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
@@ -394,7 +394,7 @@ INA226::collect()
if (_shunt >= 0) {
struct power_monitor_s report;
power_monitor_s report{};
report.timestamp = hrt_absolute_time();
report.voltage_v = (float) _bus_volatage * INA226_VSCALE;
report.current_a = (float) _current * _current_lsb;
@@ -411,8 +411,7 @@ INA226::collect()
#endif
/* publish it */
int instance;
orb_publish_auto(ORB_ID(power_monitor), &_power_monitor_topic, &report, &instance, ORB_PRIO_DEFAULT);
_power_monitor_topic.publish(report);
ret = OK;
perf_end(_sample_perf);