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px4flow: disable distance data transmission from px4flow sensor

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bugobliterator
2016-03-13 17:47:56 +01:00
committed by Lorenz Meier
parent e2901a7c2f
commit 47f79a66d1
1 changed files with 12 additions and 12 deletions
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src/drivers/px4flow/px4flow.cpp
+12 -12
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@@ -239,17 +239,17 @@ PX4FLOW::init()
return ret; return ret;
} }
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); //_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
/* get a publish handle on the range finder topic */ /* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {}; //struct distance_sensor_s ds_report = {};
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report, //_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH); // &_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) { //if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?"); // DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
} //}
ret = OK; ret = OK;
/* sensor is ok, but we don't really know if it is within range */ /* sensor is ok, but we don't really know if it is within range */
@@ -542,18 +542,18 @@ PX4FLOW::collect()
} }
/* publish to the distance_sensor topic as well */ /* publish to the distance_sensor topic as well */
struct distance_sensor_s distance_report; /*struct distance_sensor_s distance_report;
distance_report.timestamp = report.timestamp; distance_report.timestamp = report.timestamp;
distance_report.min_distance = PX4FLOW_MIN_DISTANCE; distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
distance_report.max_distance = PX4FLOW_MAX_DISTANCE; distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
distance_report.current_distance = report.ground_distance_m; distance_report.current_distance = report.ground_distance_m;
distance_report.covariance = 0.0f; distance_report.covariance = 0.0f;
distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND; distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
/* TODO: the ID needs to be properly set */ *//* TODO: the ID needs to be properly set */
distance_report.id = 0; //distance_report.id = 0;
distance_report.orientation = 8; //distance_report.orientation = 8;
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report); //orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
/* post a report to the ring */ /* post a report to the ring */
if (_reports->force(&report)) { if (_reports->force(&report)) {