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drivers helper classes remove empty publication (forced advertise)

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- this is no longer necessary with all publications outside of ISRs
This commit is contained in:
Daniel Agar
2019-08-03 14:08:45 -04:00
parent 483280236b
commit 6a6bc4be58
6 changed files with 35 additions and 37 deletions
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src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+10 -9
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@@ -50,10 +50,6 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
// set software low pass filter for controllers
updateParams();
configure_filter(_param_imu_accel_cutoff.get());
// force initial publish to allocate uORB buffer
// TODO: can be removed once all drivers are in threads
_sensor_accel_pub.update();
}
PX4Accelerometer::~PX4Accelerometer()
@@ -63,7 +59,8 @@ PX4Accelerometer::~PX4Accelerometer()
}
}
int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
int
PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case ACCELIOCSSCALE: {
@@ -85,7 +82,8 @@ int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
}
}
void PX4Accelerometer::set_device_type(uint8_t devtype)
void
PX4Accelerometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
@@ -98,13 +96,15 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
_sensor_accel_pub.get().device_id = device_id.devid;
}
void PX4Accelerometer::set_sample_rate(unsigned rate)
void
PX4Accelerometer::set_sample_rate(unsigned rate)
{
_sample_rate = rate;
_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
}
void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
void
PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
{
sensor_accel_s &report = _sensor_accel_pub.get();
report.timestamp = timestamp;
@@ -145,7 +145,8 @@ void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
}
}
void PX4Accelerometer::print_status()
void
PX4Accelerometer::print_status()
{
PX4_INFO(ACCEL_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
PX4_INFO("sample rate: %d Hz", _sample_rate);