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Support for publication blocking: L3GD20(H)

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Lorenz Meier
2014-01-12 11:54:10 +01:00
parent 28a3dc726f
commit 3c7766db6c
1 changed files with 14 additions and 9 deletions
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src/drivers/l3gd20/l3gd20.cpp
+14 -9
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -379,12 +379,6 @@ L3GD20::init()
goto out;
_class_instance = register_class_devname(GYRO_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic */
struct gyro_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &zero_report);
}
reset();
@@ -894,8 +888,19 @@ L3GD20::measure()
poll_notify(POLLIN);
/* publish for subscribers */
if (_gyro_topic > 0)
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_gyro_topic > 0) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
} else {
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &report);
if (_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
}
_read++;