fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 03:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: only publish battery topic if valid

Browse Source
This commit is contained in:
Julian Oes
2016-04-11 18:01:47 +02:00
parent 4ddd1bbf03
commit 2dfc644f17
1 changed files with 8 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensors.cpp
+8 -7
View File
@@ -1709,17 +1709,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
// removed, or it needs to be subscribed to actuator controls. // removed, or it needs to be subscribed to actuator controls.
const float throttle = 0.0f; const float throttle = 0.0f;
_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, throttle, &_battery_status); _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; _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);
}
} }
} }
} }