mavlink: update orb_publish to uORB::Publication<>

src/modules/mavlink/mavlink_mission.cpp

@@ -76,11 +76,6 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	init_offboard_mission();
 }
 
-MavlinkMissionManager::~MavlinkMissionManager()
-{
-	orb_unadvertise(_offboard_mission_pub);
-}
-
 void
 MavlinkMissionManager::init_offboard_mission()
 {
@@ -185,12 +180,7 @@ MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t coun
 		_my_dataman_id = _dataman_id;
 
 		/* mission state saved successfully, publish offboard_mission topic */
-		if (_offboard_mission_pub == nullptr) {
-			_offboard_mission_pub = orb_advertise(ORB_ID(mission), &mission);
-
-		} else {
-			orb_publish(ORB_ID(mission), _offboard_mission_pub, &mission);
-		}
+		_offboard_mission_pub.publish(mission);
 
 		return PX4_OK;
 

src/modules/mavlink/mavlink_mission.h

@@ -46,6 +46,7 @@
 #pragma once
 
 #include <dataman/dataman.h>
+#include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/mission_result.h>
 
@@ -78,7 +79,7 @@ class MavlinkMissionManager
 public:
 	explicit MavlinkMissionManager(Mavlink *mavlink);
 
-	~MavlinkMissionManager();
+	~MavlinkMissionManager() = default;
 
 	/**
 	 * Handle sending of messages. Call this regularly at a fixed frequency.
@@ -127,7 +128,7 @@ private:
 
 	uORB::Subscription	_mission_result_sub{ORB_ID(mission_result)};
 
-	orb_advert_t		_offboard_mission_pub{nullptr};
+	uORB::Publication<mission_s>	_offboard_mission_pub{ORB_ID(mission)};
 
 	static uint16_t		_geofence_update_counter;
 	static uint16_t		_safepoint_update_counter;

src/modules/mavlink/mavlink_parameters.cpp

@@ -256,14 +256,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 				}
 
 				_rc_param_map.timestamp = hrt_absolute_time();
-
-				if (_rc_param_map_pub == nullptr) {
-					_rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map);
-
-				} else {
-					orb_publish(ORB_ID(rc_parameter_map), _rc_param_map_pub, &_rc_param_map);
-				}
-
+				_rc_param_map_pub.publish(_rc_param_map);
 			}
 
 			break;

src/modules/mavlink/mavlink_parameters.h

@@ -45,6 +45,7 @@
 #include <parameters/param.h>
 
 #include "mavlink_bridge_header.h"
+#include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/rc_parameter_map.h>
@@ -125,7 +126,7 @@ protected:
 	bool _uavcan_waiting_for_request_response{false}; ///< We have reqested a parameter and wait for the response
 	uint16_t _uavcan_queued_request_items{0};	///< Number of stored parameter requests currently in the list
 
-	orb_advert_t _rc_param_map_pub{nullptr};
+	uORB::Publication<rc_parameter_map_s>	_rc_param_map_pub{ORB_ID(rc_parameter_map)};
 	rc_parameter_map_s _rc_param_map{};
 
 	uORB::PublicationQueued<uavcan_parameter_request_s> _uavcan_parameter_request_pub{ORB_ID(uavcan_parameter_request)};

src/modules/mavlink/mavlink_timesync.cpp

@@ -48,13 +48,6 @@ MavlinkTimesync::MavlinkTimesync(Mavlink *mavlink) :
 {
 }
 
-MavlinkTimesync::~MavlinkTimesync()
-{
-	if (_timesync_status_pub) {
-		orb_unadvertise(_timesync_status_pub);
-	}
-}
-
 void
 MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 {
@@ -145,7 +138,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 				}
 
 				// Publish status message
-				struct timesync_status_s tsync_status = {};
+				timesync_status_s tsync_status{};
 
 				tsync_status.timestamp = hrt_absolute_time();
 				tsync_status.remote_timestamp = tsync.tc1 / 1000ULL;
@@ -153,14 +146,7 @@ MavlinkTimesync::handle_message(const mavlink_message_t *msg)
 				tsync_status.estimated_offset = (int64_t)_time_offset;
 				tsync_status.round_trip_time = rtt_us;
 
-				if (_timesync_status_pub == nullptr) {
-					int instance;
-					_timesync_status_pub = orb_advertise_multi(ORB_ID(timesync_status), &tsync_status, &instance, ORB_PRIO_DEFAULT);
-
-				} else {
-					orb_publish(ORB_ID(timesync_status), _timesync_status_pub, &tsync_status);
-				}
-
+				_timesync_status_pub.publish(tsync_status);
 			}
 
 			break;

src/modules/mavlink/mavlink_timesync.h

@@ -42,7 +42,7 @@
 
 #include "mavlink_bridge_header.h"
 
-#include <uORB/uORB.h>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/timesync_status.h>
 
 #include <drivers/drv_hrt.h>
@@ -98,7 +98,7 @@ class MavlinkTimesync
 {
 public:
 	explicit MavlinkTimesync(Mavlink *mavlink);
-	~MavlinkTimesync();
+	~MavlinkTimesync() = default;
 
 	void handle_message(const mavlink_message_t *msg);
 
@@ -132,7 +132,7 @@ protected:
 	 */
 	void reset_filter();
 
-	orb_advert_t _timesync_status_pub{nullptr};
+	uORB::PublicationMulti<timesync_status_s>  _timesync_status_pub{ORB_ID(timesync_status)};
 
 	uint32_t _sequence{0};
 

src/modules/mavlink/mavlink_ulog.cpp

@@ -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);
 }

src/modules/mavlink/mavlink_ulog.h

@@ -46,6 +46,7 @@
 #include <px4_sem.h>
 #include <drivers/drv_hrt.h>
 
+#include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/ulog_stream.h>
 #include <uORB/topics/ulog_stream_ack.h>
@@ -121,7 +122,7 @@ private:
 	static const float _rate_calculation_delta_t; ///< rate update interval
 
 	uORB::SubscriptionData<ulog_stream_s> _ulog_stream_sub{ORB_ID(ulog_stream)};
-	orb_advert_t _ulog_stream_ack_pub = nullptr;
+	uORB::Publication<ulog_stream_ack_s> _ulog_stream_ack_pub{ORB_ID(ulog_stream_ack)};
 	uint16_t _wait_for_ack_sequence;
 	uint8_t _sent_tries = 0;
 	volatile bool _ack_received = false; ///< set to true if a matching ack received