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Support for 2nd baro

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This commit is contained in:
Lorenz Meier
2014-10-15 21:50:12 +02:00
parent d20ebd7390
commit 08297db39a
2 changed files with 5 additions and 17 deletions
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src/drivers/drv_baro.h
+1
View File
@@ -65,6 +65,7 @@ struct baro_report {
*/
ORB_DECLARE(sensor_baro0);
ORB_DECLARE(sensor_baro1);
ORB_DECLARE(sensor_baro2);
/*
* ioctl() definitions
src/drivers/ms5611/ms5611.cpp
+4 -17
View File
@@ -134,6 +134,7 @@ protected:
unsigned _msl_pressure; /* in Pa */
orb_advert_t _baro_topic;
orb_id_t _orb_id;
int _class_instance;
@@ -262,6 +263,7 @@ MS5611::init()
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(BARO_DEVICE_PATH);
_orb_id = ORB_ID_TRIPLE(sensor_baro, _class_instance);
struct baro_report brp;
/* do a first measurement cycle to populate reports with valid data */
@@ -301,14 +303,7 @@ MS5611::init()
ret = OK;
switch (_class_instance) {
case CLASS_DEVICE_PRIMARY:
_baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp);
break;
case CLASS_DEVICE_SECONDARY:
_baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp);
break;
}
_baro_topic = orb_advertise(_orb_id, &brp);
if (_baro_topic < 0) {
warnx("failed to create sensor_baro publication");
@@ -730,15 +725,7 @@ MS5611::collect()
/* publish it */
if (!(_pub_blocked)) {
/* publish it */
switch (_class_instance) {
case CLASS_DEVICE_PRIMARY:
orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report);
break;
case CLASS_DEVICE_SECONDARY:
orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report);
break;
}
orb_publish(_orb_id, _baro_topic, &report);
}
if (_reports->force(&report)) {