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rc_input: move to uORB::PublicationMulti<>

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
View File

@ -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;

4
src/drivers/rc_input/RCInput.hpp
View File

@ -49,6 +49,8 @@
#include <px4_log.h>
#include <px4_module.h>
#include <px4_workqueue.h>
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/vehicle_command.h>
@ -129,7 +131,7 @@ private:
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
orb_advert_t _to_input_rc{nullptr};
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
int _rcs_fd{-1};
char _device[20] {}; ///< device / serial port path