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| author | px4dev <px4@purgatory.org> | 2012-08-22 01:09:06 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-08-22 01:09:06 -0700 |
| commit | 44ff4d4ee29f3da53f64b2f24b822f2f2f7032c0 (patch) | |
| tree | 376fada74203811056727dc17e445c084859603d | |
| parent | 1eccfb7ccb91b98f53e791e41b917cb05b17d7e5 (diff) | |
| download | px4-firmware-44ff4d4ee29f3da53f64b2f24b822f2f2f7032c0.tar.gz px4-firmware-44ff4d4ee29f3da53f64b2f24b822f2f2f7032c0.tar.bz2 px4-firmware-44ff4d4ee29f3da53f64b2f24b822f2f2f7032c0.zip | |
Fix parameter change advertisement to conform to API change.
| -rw-r--r-- | apps/systemlib/param/param.c | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c index 7d0c75670..acd5674ab 100644 --- a/apps/systemlib/param/param.c +++ b/apps/systemlib/param/param.c @@ -91,6 +91,9 @@ UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL}; /** parameter update topic */ ORB_DEFINE(parameter_update, struct parameter_update_s); +/** parameter update topic handle */ +static orb_advert_t param_topic = -1; + /** lock the parameter store */ static void param_lock(void) @@ -390,13 +393,15 @@ out: struct parameter_update_s pup = { .timestamp = hrt_absolute_time() }; /* - * Because we're a library, we can't keep a persistent advertisement - * around, so if we succeed in updating the topic, we have to toss - * the descriptor straight away. + * If we don't have a handle to our topic, create one now; otherwise + * just publish. */ - int param_topic = orb_advertise(ORB_ID(parameter_update), &pup); - if (param_topic != -1) - close(param_topic); + if (param_topic == -1) { + param_topic = orb_advertise(ORB_ID(parameter_update), &pup); + } else { + orb_publish(ORB_ID(parameter_update), param_topic, &pup); + } + } return result; |