From bcad940a9f529388781433f30d432eb1f25a9feb Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 16 Sep 2018 17:36:06 -0400
Subject: [PATCH] pwm_out_sim lazily publish actuator_outputs
---
src/drivers/pwm_out_sim/PWMSim.cpp | 6 ++----
src/drivers/pwm_out_sim/PWMSim.hpp | 2 +-
2 files changed, 3 insertions(+), 5 deletions(-)
diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index ef7054b380..9a93dfbf83 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -158,9 +158,6 @@ PWMSim::run()
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
- /* advertise the mixed control outputs, insist on the first group output */
- _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_actuator_outputs);
-
update_params();
int params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -287,7 +284,8 @@ PWMSim::run()
/* and publish for anyone that cares to see */
_actuator_outputs.timestamp = hrt_absolute_time();
- orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);
+ int instance;
+ orb_publish_auto(ORB_ID(actuator_outputs), &_outputs_pub, &_actuator_outputs, &instance, ORB_PRIO_DEFAULT);
// use first valid timestamp_sample for latency tracking
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
diff --git a/src/drivers/pwm_out_sim/PWMSim.hpp b/src/drivers/pwm_out_sim/PWMSim.hpp
index 46772adf67..87c7beb612 100644
--- a/src/drivers/pwm_out_sim/PWMSim.hpp
+++ b/src/drivers/pwm_out_sim/PWMSim.hpp
@@ -110,7 +110,7 @@ private:
int _armed_sub{-1};
- actuator_outputs_s _actuator_outputs = {};
+ actuator_outputs_s _actuator_outputs{};
orb_advert_t _outputs_pub{nullptr};
unsigned _num_outputs{0};
--
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