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/examples/px4_simple_app/px4_simple_app.c b/apps/examples/px4_simple_app/px4_simple_app.c
index fd34a5dac..7f655964d 100644
--- a/apps/examples/px4_simple_app/px4_simple_app.c
+++ b/apps/examples/px4_simple_app/px4_simple_app.c
@@ -59,7 +59,7 @@ int px4_simple_app_main(int argc, char *argv[])
 	/* advertise attitude topic */
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
-	int att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att);
+	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
 	/* one could wait for multiple topics with this technique, just using one here */
 	struct pollfd fds[] = {
@@ -103,7 +103,7 @@ int px4_simple_app_main(int argc, char *argv[])
 				att.roll = raw.accelerometer_m_s2[0];
 				att.pitch = raw.accelerometer_m_s2[1];
 				att.yaw = raw.accelerometer_m_s2[2];
-				orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
+				orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
 			}
 			/* there could be more file descriptors here, in the form like:
 			 * if (fds[1..n].revents & POLLIN) {}