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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/multirotor_pos_control/multirotor_pos_control.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/multirotor_pos_control/multirotor_pos_control.c')
| -rw-r--r-- | apps/multirotor_pos_control/multirotor_pos_control.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c index ff32fb460..3f9c72517 100644 --- a/apps/multirotor_pos_control/multirotor_pos_control.c +++ b/apps/multirotor_pos_control/multirotor_pos_control.c @@ -89,7 +89,7 @@ mpc_thread_main(int argc, char *argv[]) int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); /* publish attitude setpoint */ - int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); + orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp); while (1) { /* get a local copy of the vehicle state */ |