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PixHawk Pro: Update mag IDs to have external higher priority

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This commit is contained in:
Mathieu Bresciani
2017-03-07 23:43:28 +08:00
committed by Lorenz Meier
parent daf668e687
commit d67b6efda3
3 changed files with 7 additions and 1 deletions
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src/modules/uavcan/sensors/mag.cpp
+1
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@@ -155,6 +155,7 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
* The proper solution is to be developed.
*/
_report.timestamp = hrt_absolute_time();
_report.device_id = _device_id.devid;
_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;
src/modules/uavcan/sensors/sensor_bridge.cpp
+1 -1
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@@ -120,7 +120,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH);
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);
if (channel->orb_advert == nullptr) {
DEVICE_LOG("ADVERTISE FAILED");
(void)unregister_class_devname(_class_devname, class_instance);