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rpi_rc_in update orb usage

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This commit is contained in:
Daniel Agar
2019-11-30 12:38:58 -05:00
parent 7306767a9d
commit c1c9895462
2 changed files with 4 additions and 10 deletions
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8
src/drivers/rpi_rc_in/rpi_rc_in.cpp
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@@ -125,13 +125,7 @@ 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;
if (nullptr == _rcinput_pub) { _rcinput_pub.publish(_data);
int instance;
_rcinput_pub = orb_advertise_multi(ORB_ID(input_rc), &_data, &instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
}
} }
static void rpi_rc_in::usage(const char *reason) static void rpi_rc_in::usage(const char *reason)

6
src/drivers/rpi_rc_in/rpi_rc_in.h
View File

@@ -54,7 +54,7 @@
#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>
#define RCINPUT_MEASURE_INTERVAL_US 20000 #define RCINPUT_MEASURE_INTERVAL_US 20000
@@ -87,9 +87,9 @@ private:
bool _should_exit = false; bool _should_exit = false;
bool _is_running = false; bool _is_running = false;
orb_advert_t _rcinput_pub = nullptr; uORB::PublicationMulti<input_rc_s> _rcinput_pub{ORB_ID(input_rc)};
int _channels = 8; //D8R-II plus int _channels = 8; //D8R-II plus
struct input_rc_s _data = {}; input_rc_s _data{};
int *_mem = nullptr; int *_mem = nullptr;
key_t _key = 4096; ///< shared memory key (matches the ppmdecode program's key) key_t _key = 4096; ///< shared memory key (matches the ppmdecode program's key)