From 1d562aaf4a0f7351d64fa6c5ec3372d9cb7755c8 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 26 Aug 2020 11:39:54 +0200
Subject: [PATCH] battery: switch to PublicationMulti for battery_status

---
 src/lib/battery/battery.cpp | 9 ++-------
 src/lib/battery/battery.h   | 8 ++++----
 2 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index 75b1c6f5b6e3..1c9509a54f4c 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -105,11 +105,6 @@ Battery::Battery(int index, ModuleParams *parent, const int sample_interval_us)
 	updateParams();
 }
 
-Battery::~Battery()
-{
-	orb_unadvertise(_battery_status_pub);
-}
-
 void
 Battery::reset()
 {
@@ -179,6 +174,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 	const bool should_publish = (source == _params.source);
 
 	if (should_publish) {
+		_battery_status_pub.publish(_battery_status);
 		publish();
 	}
 }
@@ -186,8 +182,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 void
 Battery::publish()
 {
-	int dummy; // We're not interested in the instance ID we get
-	orb_publish_auto(ORB_ID(battery_status), &_battery_status_pub, &_battery_status, &dummy);
+	_battery_status_pub.publish(_battery_status);
 }
 
 void
diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h
index 22b494355b59..a0cc1fb70360 100644
--- a/src/lib/battery/battery.h
+++ b/src/lib/battery/battery.h
@@ -43,6 +43,7 @@
 #pragma once
 
 #include <uORB/uORB.h>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/battery_status.h>
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/module_params.h>
@@ -63,8 +64,7 @@ class Battery : public ModuleParams
 {
 public:
 	Battery(int index, ModuleParams *parent, const int sample_interval_us);
-
-	~Battery();
+	~Battery() = default;
 
 	/**
 	 * Reset all battery stats and report invalid/nothing.
@@ -200,6 +200,8 @@ class Battery : public ModuleParams
 	void determineWarning(bool connected);
 	void computeScale();
 
+	uORB::PublicationMulti<battery_status_s> _battery_status_pub{ORB_ID(battery_status)};
+
 	bool _battery_initialized = false;
 	AlphaFilter<float> _voltage_filter_v;
 	AlphaFilter<float> _current_filter_a;
@@ -211,6 +213,4 @@ class Battery : public ModuleParams
 	float _scale = 1.f;
 	uint8_t _warning;
 	hrt_abstime _last_timestamp;
-
-	orb_advert_t _battery_status_pub{nullptr};
 };