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sensors: only publish battery topic if valid

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This commit is contained in:
Julian Oes 2016-02-25 16:59:29 +00:00
parent 4ddd1bbf03
commit 2dfc644f17
1 changed files with 8 additions and 7 deletions
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15
src/modules/sensors/sensors.cpp
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@ -1709,17 +1709,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
// removed, or it needs to be subscribed to actuator controls.
const float throttle = 0.0f;
_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, throttle, &_battery_status);
/* announce the battery status if needed, just publish else */
if (_battery_pub != nullptr) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
_last_adc = t;
/* announce the battery status if needed, just publish else */
if (_battery_pub != nullptr) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
} else {
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
}
}
}
}