From f31f63fff7f5ad24e341d3ba7523c4482f4b212c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 5 Nov 2018 10:31:20 +0100
Subject: [PATCH] mc_att_control: use orb_publish_auto
use nullptr for instance to make sure we always get the first instance.
---
.../mc_att_control/mc_att_control_main.cpp | 21 +++----------------
1 file changed, 3 insertions(+), 18 deletions(-)
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 7c6a82047b..85e4cbe450 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -586,14 +586,7 @@ MulticopterAttitudeControl::publish_rates_setpoint()
_v_rates_sp.yaw = _rates_sp(2);
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
-
- if (_v_rates_sp_pub != nullptr) {
- orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
-
- } else if (_rates_sp_id) {
- _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp);
- }
-
+ orb_publish_auto(_rates_sp_id, &_v_rates_sp_pub, &_v_rates_sp, nullptr, ORB_PRIO_DEFAULT);
}
void
@@ -607,9 +600,7 @@ MulticopterAttitudeControl::publish_rate_controller_status()
rate_ctrl_status.rollspeed_integ = _rates_int(0);
rate_ctrl_status.pitchspeed_integ = _rates_int(1);
rate_ctrl_status.yawspeed_integ = _rates_int(2);
-
- int instance;
- orb_publish_auto(ORB_ID(rate_ctrl_status), &_controller_status_pub, &rate_ctrl_status, &instance, ORB_PRIO_DEFAULT);
+ orb_publish_auto(ORB_ID(rate_ctrl_status), &_controller_status_pub, &rate_ctrl_status, nullptr, ORB_PRIO_DEFAULT);
}
void
@@ -631,13 +622,7 @@ MulticopterAttitudeControl::publish_actuator_controls()
}
if (!_actuators_0_circuit_breaker_enabled) {
- if (_actuators_0_pub != nullptr) {
-
- orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
-
- } else if (_actuators_id) {
- _actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
- }
+ orb_publish_auto(_actuators_id, &_actuators_0_pub, &_actuators, nullptr, ORB_PRIO_DEFAULT);
}
}
--
GitLab