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Drivers: Distance Sensors: Add proper device IDs

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Add new DeviceBusType_SERIAL to Device::DeviceId union
Add DRV_DIST_DEVTYPE's for all distance sensors
Change distance_sensor_s.id to distance_sensor_s.device_id
Modify all distance_sensor drivers to apply 'proper' device_id
This commit is contained in:
JacobCrabill
2021-01-27 17:02:20 -05:00
committed by Daniel Agar
parent adf2d2f73a
commit 85796fbd84
26 changed files with 168 additions and 38 deletions
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src/drivers/optical_flow/px4flow/px4flow.cpp
+5 -2
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@@ -313,6 +313,10 @@ PX4FLOW::collect()
/* publish to the distance_sensor topic as well */
if (_distance_sensor_topic.get_instance() == 0) {
distance_sensor_s distance_report{};
DeviceId device_id;
device_id.devid = get_device_id();
device_id.devid_s.devtype = DRV_DIST_DEVTYPE_PX4FLOW;
distance_report.timestamp = report.timestamp;
distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
@@ -320,8 +324,7 @@ PX4FLOW::collect()
distance_report.variance = 0.0f;
distance_report.signal_quality = -1;
distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
/* TODO: the ID needs to be properly set */
distance_report.id = 0;
distance_report.device_id = device_id.devid;
distance_report.orientation = _sonar_rotation;
_distance_sensor_topic.publish(distance_report);