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sensors: always start baro/GPS/mag aggregators if SYS_HAS_* set

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- add new SYS_HAS_GPS parameter
This commit is contained in:
Daniel Agar
2021-08-23 10:59:58 -04:00
parent 6d3120d00d
commit 61702d0d97
3 changed files with 30 additions and 15 deletions
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src/modules/sensors/sensors.cpp
+9 -12
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@@ -220,6 +220,7 @@ private:
DEFINE_PARAMETERS(
(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro,
(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
)
@@ -535,12 +536,10 @@ void Sensors::InitializeVehicleAirData()
{
if (_param_sys_has_baro.get()) {
if (_vehicle_air_data == nullptr) {
if (orb_exists(ORB_ID(sensor_baro), 0) == PX4_OK) {
_vehicle_air_data = new VehicleAirData();
_vehicle_air_data = new VehicleAirData();
if (_vehicle_air_data) {
_vehicle_air_data->Start();
}
if (_vehicle_air_data) {
_vehicle_air_data->Start();
}
}
}
@@ -548,8 +547,8 @@ void Sensors::InitializeVehicleAirData()
void Sensors::InitializeVehicleGPSPosition()
{
if (_vehicle_gps_position == nullptr) {
if (orb_exists(ORB_ID(sensor_gps), 0) == PX4_OK) {
if (_param_sys_has_gps.get()) {
if (_vehicle_gps_position == nullptr) {
_vehicle_gps_position = new VehicleGPSPosition();
if (_vehicle_gps_position) {
@@ -603,12 +602,10 @@ void Sensors::InitializeVehicleMagnetometer()
{
if (_param_sys_has_mag.get()) {
if (_vehicle_magnetometer == nullptr) {
if (orb_exists(ORB_ID(sensor_mag), 0) == PX4_OK) {
_vehicle_magnetometer = new VehicleMagnetometer();
_vehicle_magnetometer = new VehicleMagnetometer();
if (_vehicle_magnetometer) {
_vehicle_magnetometer->Start();
}
if (_vehicle_magnetometer) {
_vehicle_magnetometer->Start();
}
}
}