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distance_sensor: changed all distance sensors to orb_advertise_multi

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Ban Siesta
2015-05-24 19:20:25 +01:00
parent 517acd4586
commit 69cbbd9b5e
8 changed files with 74 additions and 28 deletions
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src/drivers/trone/trone.cpp
+10 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -127,7 +127,8 @@ private:
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _class_instance;
int _class_instance;
int _orb_class_instance;
orb_advert_t _distance_sensor_topic;
@@ -236,6 +237,7 @@ TRONE::TRONE(int bus, int address) :
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
@@ -292,13 +294,15 @@ TRONE::init()
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s rf_report;
struct distance_sensor_s ds_report;
measure();
_reports->get(&rf_report);
_distance_sensor_topic = orb_advertise(ORB_ID(distance_sensor), &rf_report);
_reports->get(&ds_report);
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
log("failed to create sensor_range_finder object. Did you start uOrb?");
}
}