fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 10:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

drivers: more adaptations to changed message

Browse Source
This commit is contained in:
Ban Siesta
2015-05-24 15:57:42 +01:00
parent 103d59e9be
commit 0128fef8e0
3 changed files with 16 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/mb12xx/mb12xx.cpp
+5 -4
View File
@@ -575,13 +575,14 @@ MB12XX::collect()
struct distance_sensor_s report;
report.timestamp = hrt_absolute_time();
report.id = 1;
report.type = 1;
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
report.orientation = 8;
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0f;
/* TODO: set proper ID */
report.id = 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) {
@@ -828,7 +829,7 @@ test()
}
warnx("single read");
warnx("time: %d", report.time_boot_ms);
warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -856,7 +857,7 @@ test()
}
warnx("periodic read %u", i);
warnx("time: %d", report.time_boot_ms);
warnx("time: %llu", report.timestamp);
}
/* reset the sensor polling to default rate */