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df_trone_wrapper: don't advertise garbage

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This commit is contained in:
Julian Oes
2016-06-07 14:04:11 +02:00
committed by Lorenz Meier
parent 40d6a4e5fc
commit 44207a3a5c
1 changed files with 6 additions and 9 deletions
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src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
+6 -9
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@@ -117,10 +117,6 @@ DfTROneWrapper::~DfTROneWrapper()
int DfTROneWrapper::start() int DfTROneWrapper::start()
{ {
struct distance_sensor_s d;
_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
&_orb_class_instance, ORB_PRIO_DEFAULT);
int ret; int ret;
/* Init device and start sensor. */ /* Init device and start sensor. */
@@ -156,10 +152,6 @@ int DfTROneWrapper::stop()
int DfTROneWrapper::_publish(struct range_sensor_data &data) int DfTROneWrapper::_publish(struct range_sensor_data &data)
{ {
if (!_range_topic) {
return 1;
}
struct distance_sensor_s d; struct distance_sensor_s d;
memset(&d, 0, sizeof(d)); memset(&d, 0, sizeof(d));
@@ -180,7 +172,12 @@ int DfTROneWrapper::_publish(struct range_sensor_data &data)
d.covariance = 0.0f; d.covariance = 0.0f;
orb_publish(ORB_ID(distance_sensor), _range_topic, &d); if (_range_topic == nullptr) {
_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
&_orb_class_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
}
/* Notify anyone waiting for data. */ /* Notify anyone waiting for data. */
DevMgr::updateNotify(*this); DevMgr::updateNotify(*this);