fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 06:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

move baro and magnetometer data out of sensor_combined

Browse Source
This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent 3e6ba1d541
commit 3b5b12e1d1
31 changed files with 289 additions and 266 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/telemetry/frsky_telemetry/sPort_data.c
+13 -2
View File
@@ -52,6 +52,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
@@ -69,12 +70,14 @@ struct s_port_subscription_data_s {
int battery_status_sub;
int vehicle_status_sub;
int gps_position_sub;
int vehicle_air_data_sub;
struct sensor_combined_s sensor_combined;
struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
struct battery_status_s battery_status;
struct vehicle_status_s vehicle_status;
struct vehicle_air_data_s vehicle_air_data;
struct vehicle_gps_position_s gps_position;
};
@@ -92,13 +95,13 @@ bool sPort_init()
return false;
}
s_port_subscription_data->sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
s_port_subscription_data->global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
s_port_subscription_data->local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
s_port_subscription_data->battery_status_sub = orb_subscribe(ORB_ID(battery_status));
s_port_subscription_data->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
s_port_subscription_data->gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
s_port_subscription_data->vehicle_air_data_sub = orb_subscribe(ORB_ID(vehicle_air_data));
return true;
}
@@ -112,6 +115,7 @@ void sPort_deinit()
orb_unsubscribe(s_port_subscription_data->battery_status_sub);
orb_unsubscribe(s_port_subscription_data->vehicle_status_sub);
orb_unsubscribe(s_port_subscription_data->gps_position_sub);
orb_unsubscribe(s_port_subscription_data->vehicle_air_data_sub);
free(s_port_subscription_data);
s_port_subscription_data = NULL;
}
@@ -164,6 +168,13 @@ void sPort_update_topics()
orb_copy(ORB_ID(vehicle_gps_position), subs->gps_position_sub, &subs->gps_position);
}
/* get a local copy of the gps position data */
orb_check(subs->vehicle_air_data_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_air_data), subs->vehicle_air_data_sub, &subs->vehicle_air_data);
}
}
@@ -254,7 +265,7 @@ void sPort_send_CUR(int uart)
void sPort_send_ALT(int uart)
{
/* send data */
uint32_t alt = (int)(100 * s_port_subscription_data->sensor_combined.baro_alt_meter);
uint32_t alt = (int)(100 * s_port_subscription_data->vehicle_air_data.baro_alt_meter);
sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
}