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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/gps | |
| 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/gps')
| -rw-r--r-- | apps/gps/mtk.c | 2 | ||||
| -rw-r--r-- | apps/gps/nmea_helper.c | 2 | ||||
| -rw-r--r-- | apps/gps/ubx.c | 2 |
3 files changed, 3 insertions, 3 deletions
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c index cef70601b..0333c7100 100644 --- a/apps/gps/mtk.c +++ b/apps/gps/mtk.c @@ -311,7 +311,7 @@ void *mtk_loop(void *arg) /* advertise GPS topic */ struct vehicle_gps_position_s mtk_gps_d; mtk_gps = &mtk_gps_d; - int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps); + orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps); while (1) { /* Parse a message from the gps receiver */ diff --git a/apps/gps/nmea_helper.c b/apps/gps/nmea_helper.c index 4b520d403..54912b6d3 100644 --- a/apps/gps/nmea_helper.c +++ b/apps/gps/nmea_helper.c @@ -176,7 +176,7 @@ void *nmea_loop(void *arg) /* advertise GPS topic */ struct vehicle_gps_position_s nmea_gps_d = {0}; nmea_gps = &nmea_gps_d; - int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps); + orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps); while (1) { /* Parse a message from the gps receiver */ diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index 771dfbd6c..a629e904d 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -842,7 +842,7 @@ void *ubx_loop(void *arg) ubx_gps = &ubx_gps_d; - int gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps); + orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps); while (1) { /* Parse a message from the gps receiver */ |