voxlpm update orb usage

src/drivers/power_monitor/voxlpm/CMakeLists.txt

@@ -33,8 +33,6 @@
 px4_add_module(
 	MODULE drivers__voxlpm
 	MAIN voxlpm
-	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		voxlpm.cpp
 		voxlpm_main.cpp

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -46,11 +46,7 @@
 VOXLPM::VOXLPM(const char *path, int bus, int address, VOXLPM_CH_TYPE ch_type) :
 	I2C("voxlpm", path, bus, address, 400000),
 	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(I2C::get_device_id())),
-	_sample_perf(perf_alloc(PC_ELAPSED, "voxlpm: sample")),
-	_bat_pub_topic(nullptr),
-	_pm_pub_topic(nullptr),
-	_voltage(0.0f),
-	_amperage(0.0f)
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample"))
 {
 	_ch_type = ch_type;
 
@@ -159,12 +155,7 @@ VOXLPM::measure()
 		case VOXLPM_CH_TYPE_VBATT: {
 				_battery.updateBatteryStatus(tnow, _voltage, _amperage, true, true, 0, 0, false, &_bat_status);
 
-				if (_bat_pub_topic != nullptr) {
-					orb_publish(ORB_ID(battery_status), _bat_pub_topic, &_bat_status);
-
-				} else {
-					_bat_pub_topic = orb_advertise(ORB_ID(battery_status), &_bat_status);
-				}
+				_bat_pub_topic.publish(_bat_status);
 			}
 
 		// fallthrough
@@ -176,13 +167,7 @@ VOXLPM::measure()
 				_pm_status.current_a = (float) _amperage;
 
 				//_pm_pub_topic.power_w   = (float) _power * _power_lsb;
-
-				if (_pm_pub_topic != nullptr) {
-					orb_publish(ORB_ID(power_monitor), _pm_pub_topic, &_pm_status);
-
-				} else {
-					_pm_pub_topic = orb_advertise(ORB_ID(power_monitor), &_pm_status);
-				}
+				_pm_pub_topic.publish(_pm_status);
 			}
 			break;
 
@@ -193,12 +178,7 @@ VOXLPM::measure()
 		case VOXLPM_CH_TYPE_VBATT: {
 				_battery.updateBatteryStatus(tnow, 0.0, 0.0, true, true, 0, 0, false, &_bat_status);
 
-				if (_bat_pub_topic != nullptr) {
-					orb_publish(ORB_ID(battery_status), _bat_pub_topic, &_bat_status);
-
-				} else {
-					_bat_pub_topic = orb_advertise(ORB_ID(battery_status), &_bat_status);
-				}
+				_bat_pub_topic.publish(_bat_status);
 			}
 			break;
 

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -67,7 +67,7 @@
 
 #include <battery/battery.h>
 
-#include <uORB/uORB.h>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/power_monitor.h>
 
@@ -160,16 +160,16 @@ private:
 
 	perf_counter_t		_sample_perf;
 
-	orb_advert_t 		_bat_pub_topic;
-	orb_advert_t		_pm_pub_topic;
+	uORB::PublicationMulti<battery_status_s>	_bat_pub_topic{ORB_ID(battery_status)};
+	uORB::PublicationMulti<power_monitor_s>		_pm_pub_topic{ORB_ID(power_monitor)};
 
-	struct battery_status_s _bat_status;
-	struct power_monitor_s 	_pm_status;
+	battery_status_s	_bat_status{};
+	power_monitor_s 	_pm_status{};
 
 	VOXLPM_CH_TYPE		_ch_type;
-	float			_voltage;
-	float			_amperage;
-	float			_rsense;
+	float			_voltage{0.0f};
+	float			_amperage{0.0f};
+	float			_rsense{0.0f};
 
 	Battery 		_battery;