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.

1 files changed, 2 insertions, 2 deletions

diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 7576fc1d9..951e1a062 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -181,12 +181,12 @@ private:
 	struct accel_report	_accel_report;
 	struct accel_scale	_accel_scale;
 	float			_accel_range_scale;
-	int			_accel_topic;
+	orb_advert_t		_accel_topic;
 
 	struct gyro_report	_gyro_report;
 	struct gyro_scale	_gyro_scale;
 	float			_gyro_range_scale;
-	int			_gyro_topic;
+	orb_advert_t		_gyro_topic;
 
 	unsigned		_reads;
 	perf_counter_t		_sample_perf;