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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/fixedwing_control | |
| 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/fixedwing_control')
| -rw-r--r-- | apps/fixedwing_control/fixedwing_control.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c index bad62edcf..7ea4101ab 100644 --- a/apps/fixedwing_control/fixedwing_control.c +++ b/apps/fixedwing_control/fixedwing_control.c @@ -675,7 +675,7 @@ int fixedwing_control_main(int argc, char *argv[]) /* Set up to publish fixed wing control messages */ struct fixedwing_control_s control; - int fixedwing_control_pub = orb_advertise(ORB_ID(fixedwing_control), &control); + orb_advert_t fixedwing_control_pub = orb_advertise(ORB_ID(fixedwing_control), &control); /* Subscribe to global position, attitude and rc */ struct vehicle_global_position_s global_pos; |