diff options
Diffstat (limited to 'src/examples/publisher/publisher_example.cpp')
| -rw-r--r-- | src/examples/publisher/publisher_example.cpp | 19 |
1 files changed, 14 insertions, 5 deletions
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp index 2e5779ebe..e85e42b38 100644 --- a/src/examples/publisher/publisher_example.cpp +++ b/src/examples/publisher/publisher_example.cpp @@ -45,7 +45,8 @@ using namespace px4; PublisherExample::PublisherExample() : _n(), - _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) + _rc_channels_pub(_n.advertise<px4_rc_channels>()) + // _rc_channels_pub(PX4_ADVERTISE(_n, rc_channels)) { } @@ -55,11 +56,19 @@ int PublisherExample::main() px4::Rate loop_rate(10); while (px4::ok()) { - PX4_TOPIC_T(rc_channels) msg; - msg.timestamp_last_valid = px4::get_time_micros(); - PX4_INFO("%llu", msg.timestamp_last_valid); + // PX4_TOPIC_T(rc_channels) msg; + // msg.timestamp_last_valid = px4::get_time_micros(); + // PX4_INFO("%llu", msg.timestamp_last_valid); + + // _rc_channels_pub->publish(msg); + + //XXX + px4_rc_channels msg2; + msg2.data().timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("%llu", msg2.data().timestamp_last_valid); + // msg2.pub->publish2(); + _rc_channels_pub->publish(msg2); - _rc_channels_pub->publish(msg); _n.spinOnce(); loop_rate.sleep(); |