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drivers: more adaptations to changed message

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Ban Siesta
2015-05-24 15:57:42 +01:00
parent 103d59e9be
commit 0128fef8e0
3 changed files with 16 additions and 12 deletions
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src/drivers/trone/trone.cpp
+6 -4
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@@ -572,13 +572,15 @@ TRONE::collect()
struct distance_sensor_s report;
report.timestamp = hrt_absolute_time();
report.id = 3;
report.type = 0;
/* there is no enum item for a combined LASER and ULTRASOUND which it should be */
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
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) {
@@ -807,7 +809,7 @@ test()
warnx("single read");
warnx("measurement: %0.2f m", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
warnx("time: %llu", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -836,7 +838,7 @@ test()
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.current_distance);
warnx("time: %d", report.time_boot_ms);
warnx("time: %llu", report.timestamp);
}
/* reset the sensor polling to default rate */