fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 01:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: Remove unneeded orb_set_interval() call

Browse Source
This commit is contained in:
Lorenz Meier
2015-11-22 12:12:22 +01:00
parent 6ebc26811f
commit 4e6bb35392
1 changed files with 9 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/sensors.cpp
+9 -3
View File
@@ -1291,6 +1291,9 @@ Sensors::parameter_update_poll(bool forced)
continue; continue;
} }
int id = h.ioctl(DEVIOCGDEVICEID, 0);
PX4_WARN("sensors: device ID: %s: %d, %u", str, id, (unsigned)id);
/* if the calibration is for this device, apply it */ /* if the calibration is for this device, apply it */
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) { if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct gyro_scale gscale = {}; struct gyro_scale gscale = {};
@@ -1360,6 +1363,9 @@ Sensors::parameter_update_poll(bool forced)
continue; continue;
} }
int id = h.ioctl(DEVIOCGDEVICEID, 0);
PX4_WARN("sensors: device ID: %s: %d, %u", str, id, (unsigned)id);
/* if the calibration is for this device, apply it */ /* if the calibration is for this device, apply it */
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) { if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct accel_scale gscale = {}; struct accel_scale gscale = {};
@@ -1438,6 +1444,9 @@ Sensors::parameter_update_poll(bool forced)
continue; continue;
} }
int id = h.ioctl(DEVIOCGDEVICEID, 0);
PX4_WARN("sensors: device ID: %s: %d, %u", str, id, (unsigned)id);
/* if the calibration is for this device, apply it */ /* if the calibration is for this device, apply it */
if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) { if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
struct mag_scale gscale = {}; struct mag_scale gscale = {};
@@ -2102,9 +2111,6 @@ Sensors::task_main()
_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map)); _rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vcontrol_mode_sub, 200);
/* /*
* do advertisements * do advertisements
*/ */