From 2dfc644f17edd60410ce456ca87c8c5d29dc4cbe Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 25 Feb 2016 16:59:29 +0000 Subject: [PATCH] sensors: only publish battery topic if valid --- src/modules/sensors/sensors.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 31c7211f7e..ce7b2d989e 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -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); - } } } }