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navio_sysfs_rc_in orb_publish usage to uORB::PublicationMulti<>

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This commit is contained in:
Daniel Agar
2019-11-30 12:33:25 -05:00
parent 6a539a3836
commit ec5730bb89
1 changed files with 3 additions and 10 deletions
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boards/emlid/navio2/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
+3 -10
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@@ -47,7 +47,7 @@
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <uORB/uORB.h> #include <uORB/PublicationMulti.hpp>
#include <uORB/topics/input_rc.h> #include <uORB/topics/input_rc.h>
namespace navio_sysfs_rc_in namespace navio_sysfs_rc_in
@@ -96,7 +96,7 @@ private:
bool _isRunning; bool _isRunning;
struct work_s _work; struct work_s _work;
orb_advert_t _rcinput_pub; uORB::PublicationMulti<input_rc_s> _rcinput_pub{ORB_ID(input_rc)};
int _channels; int _channels;
int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS] {}; int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
@@ -126,13 +126,6 @@ int RcInput::navio_rc_init()
_data.values[i] = UINT16_MAX; _data.values[i] = UINT16_MAX;
} }
_rcinput_pub = orb_advertise(ORB_ID(input_rc), &_data);
if (_rcinput_pub == nullptr) {
PX4_WARN("error: advertise failed");
return -1;
}
return 0; return 0;
} }
@@ -208,7 +201,7 @@ void RcInput::_measure(void)
_data.rc_lost = false; _data.rc_lost = false;
_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM; _data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data); _rcinput_pub.publish(_data);
} }
/** /**