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| author | px4dev <px4@purgatory.org> | 2012-08-21 23:44:22 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-08-21 23:44:22 -0700 |
| commit | 88f0080a0ffb299006950c0453eabddb7d17f078 (patch) | |
| tree | ea769b9b10ba256942ec93d5b42515f1057f7f4f /apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | |
| parent | 8c22e2a092a5527e5e4af2a54ecdeac586ffbfa7 (diff) | |
| download | px4-firmware-88f0080a0ffb299006950c0453eabddb7d17f078.tar.gz px4-firmware-88f0080a0ffb299006950c0453eabddb7d17f078.tar.bz2 px4-firmware-88f0080a0ffb299006950c0453eabddb7d17f078.zip | |
Fix an architectural issue with the ORB that prevented publication from interrupt context.
ORB topic advertisements are now global handles that can be used in any context. It is still possible to open a topic node as a publisher, but it's not the default. As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same.
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index fdf6c9d91..09cbdd4e9 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -138,7 +138,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) /* subscribe to raw data */ int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); /* advertise attitude */ - int pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); + orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); int loopcounter = 0; |