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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-01 11:06:47 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-01 11:06:47 +0100 |
commit | 84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9 (patch) | |
tree | db0470a2471776e9ffe525b2fa7302cec7ab8bd8 /src/modules/uavcan/sensors/sensor_bridge.cpp | |
parent | 7c958a2cca90a6262dc491fe9ef86d85bacdf3da (diff) | |
parent | a2a244584e36a0e9ffdb93a0dda8473baf8344d3 (diff) | |
download | px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.tar.gz px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.tar.bz2 px4-firmware-84ff3c671d5c6d00a1b6c9a8062bddfb6875f8f9.zip |
Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl
Conflicts:
src/drivers/px4fmu/fmu.cpp
Diffstat (limited to 'src/modules/uavcan/sensors/sensor_bridge.cpp')
-rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.cpp | 6 |
1 files changed, 2 insertions, 4 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp index 0999938fc..b37076444 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.cpp +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -62,7 +62,6 @@ UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase() (void)unregister_class_devname(_class_devname, _channels[i].class_instance); } } - delete [] _orb_topics; delete [] _channels; } @@ -116,11 +115,10 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) } // Publish to the appropriate topic, abort on failure - channel->orb_id = _orb_topics[class_instance]; channel->node_id = node_id; channel->class_instance = class_instance; - channel->orb_advert = orb_advertise(channel->orb_id, report); + channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH); if (channel->orb_advert < 0) { log("ADVERTISE FAILED"); (void)unregister_class_devname(_class_devname, class_instance); @@ -132,7 +130,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) } assert(channel != nullptr); - (void)orb_publish(channel->orb_id, channel->orb_advert, report); + (void)orb_publish(_orb_topic, channel->orb_advert, report); } unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const |