fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed up init sequence of all sensors - we can publish in interrupt context, but not advertise! All advertisements now contain valid data

Browse Source
This commit is contained in:
Lorenz Meier
2014-01-14 15:40:46 +01:00
parent 1f5eda37ab
commit d199710651
8 changed files with 186 additions and 112 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/l3gd20/l3gd20.cpp
+18 -12
View File
@@ -382,6 +382,21 @@ L3GD20::init()
reset();
measure();
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* advertise sensor topic, measure manually to initialize valid report */
struct gyro_report grp;
_reports->get(&grp);
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
if (_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
ret = OK;
out:
return ret;
@@ -888,18 +903,9 @@ L3GD20::measure()
poll_notify(POLLIN);
/* publish for subscribers */
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_gyro_topic > 0) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
} else {
_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &report);
if (_gyro_topic < 0)
debug("failed to create sensor_gyro publication");
}
if (_gyro_topic > 0 && !(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
}
_read++;