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rc_input: move to uORB::PublicationMulti<>

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This commit is contained in:
Daniel Agar
2019-09-30 16:34:07 -04:00
parent 6941077218
commit 2989ce981c
2 changed files with 4 additions and 5 deletions
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5
src/drivers/rc_input/RCInput.cpp
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@@ -71,8 +71,6 @@ RCInput::RCInput(bool run_as_task, char *device) :
RCInput::~RCInput()
{
orb_unadvertise(_to_input_rc);
#ifdef RC_SERIAL_PORT
dsm_deinit();
#endif
@@ -674,8 +672,7 @@ RCInput::cycle()
if (rc_updated) {
perf_count(_publish_interval_perf);
int instance;
orb_publish_auto(ORB_ID(input_rc), &_to_input_rc, &_rc_in, &instance, ORB_PRIO_DEFAULT);
_to_input_rc.publish(_rc_in);
} else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1_s)) {
_rc_scan_locked = false;