diff options
Diffstat (limited to 'apps/sensors/sensors.c')
| -rw-r--r-- | apps/sensors/sensors.c | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index ef8ff798f..891167d1c 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -124,8 +124,8 @@ extern unsigned ppm_decoded_channels; extern uint64_t ppm_last_valid_decode; #endif -/* file handle that will be used for subscribing */ -static int sensor_pub; +/* ORB topic publishing our results */ +static orb_advert_t sensor_pub; /** * Sensor readout and publishing. @@ -404,7 +404,7 @@ int sensors_thread_main(int argc, char *argv[]) .yaw = 0.0f, .throttle = 0.0f }; - int manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control); + orb_advert_t manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control); if (manual_control_pub < 0) { fprintf(stderr, "[sensors] ERROR: orb_advertise for topic manual_control_setpoint failed.\n"); @@ -413,7 +413,7 @@ int sensors_thread_main(int argc, char *argv[]) /* advertise the rc topic */ struct rc_channels_s rc; memset(&rc, 0, sizeof(rc)); - int rc_pub = orb_advertise(ORB_ID(rc_channels), &rc); + orb_advert_t rc_pub = orb_advertise(ORB_ID(rc_channels), &rc); if (rc_pub < 0) { fprintf(stderr, "[sensors] ERROR: orb_advertise for topic rc_channels failed.\n"); @@ -466,7 +466,6 @@ int sensors_thread_main(int argc, char *argv[]) if (vstatus.flag_hil_enabled && !hil_enabled) { hil_enabled = true; publishing = false; - int ret = close(sensor_pub); printf("[sensors] Closing sensor pub: %i \n", ret); /* switching from HIL to non-HIL mode */ |