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df_mpu9250_wrapper: astyle

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Julian Oes
2016-02-19 16:59:48 +01:00
parent 10f1ff46f0
commit 7fc8a213ac
1 changed files with 8 additions and 3 deletions
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src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+8 -3
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@@ -131,6 +131,7 @@ int DfMpu9250Wrapper::start()
accel_report accel_report = {}; accel_report accel_report = {};
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report, _accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
&_accel_orb_class_instance, ORB_PRIO_DEFAULT); &_accel_orb_class_instance, ORB_PRIO_DEFAULT);
if (_accel_topic == nullptr) { if (_accel_topic == nullptr) {
PX4_ERR("sensor_accel advert fail"); PX4_ERR("sensor_accel advert fail");
return -1; return -1;
@@ -140,6 +141,7 @@ int DfMpu9250Wrapper::start()
gyro_report gyro_report = {}; gyro_report gyro_report = {};
_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report, _gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
&_gyro_orb_class_instance, ORB_PRIO_DEFAULT); &_gyro_orb_class_instance, ORB_PRIO_DEFAULT);
if (_gyro_topic == nullptr) { if (_gyro_topic == nullptr) {
PX4_ERR("sensor_gyro advert fail"); PX4_ERR("sensor_gyro advert fail");
return -1; return -1;
@@ -203,6 +205,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report); orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
} }
} }
perf_end(_accel_sample_perf); perf_end(_accel_sample_perf);
/* Then publish gyro. */ /* Then publish gyro. */
@@ -230,6 +233,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report); orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
} }
} }
perf_end(_gyro_sample_perf); perf_end(_gyro_sample_perf);
/* Notify anyone waiting for data. */ /* Notify anyone waiting for data. */
@@ -259,6 +263,7 @@ int start(/*enum Rotation rotation*/)
} }
int ret = g_dev->start(); int ret = g_dev->start();
if (ret != 0) { if (ret != 0) {
PX4_ERR("DfMpu9250Wrapper start failed"); PX4_ERR("DfMpu9250Wrapper start failed");
return ret; return ret;
@@ -267,10 +272,10 @@ int start(/*enum Rotation rotation*/)
// Open the IMU sensor // Open the IMU sensor
DevHandle h; DevHandle h;
DevMgr::getHandle(IMU_DEVICE_PATH, h); DevMgr::getHandle(IMU_DEVICE_PATH, h);
if (!h.isValid())
{ if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)", DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
IMU_DEVICE_PATH, h.getError()); IMU_DEVICE_PATH, h.getError());
return -1; return -1;
} }