fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 22:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Move LSM303D mag to new multi-pub interface

Browse Source
This commit is contained in:
Lorenz Meier
2015-01-29 16:33:52 +01:00
parent f30b02272b
commit 114465aba4
1 changed files with 4 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/lsm303d/lsm303d.cpp
+4 -18
View File
@@ -507,7 +507,7 @@ private:
LSM303D *_parent; LSM303D *_parent;
orb_advert_t _mag_topic; orb_advert_t _mag_topic;
orb_id_t _mag_orb_id; int _mag_orb_class_instance;
int _mag_class_instance; int _mag_class_instance;
void measure(); void measure();
@@ -641,21 +641,7 @@ LSM303D::init()
_mag_reports->get(&mrp); _mag_reports->get(&mrp);
/* measurement will have generated a report, publish */ /* measurement will have generated a report, publish */
switch (_mag->_mag_class_instance) { _mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp, &_mag->_mag_orb_class_instance, ORB_PRIO_LOW);
case CLASS_DEVICE_PRIMARY:
_mag->_mag_orb_id = ORB_ID(sensor_mag0);
break;
case CLASS_DEVICE_SECONDARY:
_mag->_mag_orb_id = ORB_ID(sensor_mag1);
break;
case CLASS_DEVICE_TERTIARY:
_mag->_mag_orb_id = ORB_ID(sensor_mag2);
break;
}
_mag->_mag_topic = orb_advertise(_mag->_mag_orb_id, &mrp);
if (_mag->_mag_topic < 0) { if (_mag->_mag_topic < 0) {
warnx("ADVERT ERR"); warnx("ADVERT ERR");
@@ -1641,7 +1627,7 @@ LSM303D::mag_measure()
if (!(_pub_blocked)) { if (!(_pub_blocked)) {
/* publish it */ /* publish it */
orb_publish(_mag->_mag_orb_id, _mag->_mag_topic, &mag_report); orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
} }
_mag_read++; _mag_read++;
@@ -1742,7 +1728,7 @@ LSM303D_mag::LSM303D_mag(LSM303D *parent) :
CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG), CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
_parent(parent), _parent(parent),
_mag_topic(-1), _mag_topic(-1),
_mag_orb_id(nullptr), _mag_orb_class_instance(-1),
_mag_class_instance(-1) _mag_class_instance(-1)
{ {
} }