From 6623fd021216acd26d43a1ba97b0b5e7c2aa388f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 11 Dec 2017 14:12:47 -0500 Subject: [PATCH] sensors don't keep battery_status messages --- src/modules/sensors/sensors.cpp | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 39985b2824..5257fc9fc0 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -182,7 +182,6 @@ private: DataValidator _airspeed_validator; /**< data validator to monitor airspeed */ - battery_status_s _battery_status[BOARD_NUMBER_BRICKS] {}; /**< battery status */ differential_pressure_s _diff_pres{}; airspeed_s _airspeed{}; @@ -558,12 +557,13 @@ Sensors::adc_poll(struct sensor_combined_s &raw) actuator_controls_s ctrl; orb_copy(ORB_ID(actuator_controls_0), _actuator_ctrl_0_sub, &ctrl); + battery_status_s battery_status; _battery[b].updateBatteryStatus(t, bat_voltage_v[b], bat_current_a[b], connected, selected_source == b, b, ctrl.control[actuator_controls_s::INDEX_THROTTLE], - _armed, &_battery_status[b]); + _armed, &battery_status); int instance; - orb_publish_auto(ORB_ID(battery_status), &_battery_pub[b], &_battery_status[b], &instance, ORB_PRIO_DEFAULT); + orb_publish_auto(ORB_ID(battery_status), &_battery_pub[b], &battery_status, &instance, ORB_PRIO_DEFAULT); } } @@ -605,10 +605,6 @@ Sensors::run() _actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0)); - for (int b = 0; b < BOARD_NUMBER_BRICKS; b++) { - _battery[b].reset(&_battery_status[b]); - } - /* get a set of initial values */ _voted_sensors_update.sensors_poll(raw); @@ -621,7 +617,9 @@ Sensors::run() /* advertise the sensor_preflight topic and make the initial publication */ preflt.accel_inconsistency_m_s_s = 0.0f; + preflt.gyro_inconsistency_rad_s = 0.0f; + preflt.mag_inconsistency_ga = 0.0f; _sensor_preflight = orb_advertise(ORB_ID(sensor_preflight), &preflt);