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Airspeed does not publish if disabled

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Lorenz Meier 2014-01-12 11:53:15 +01:00
parent 9bf512cac8
commit d72c82f66b
4 changed files with 36 additions and 10 deletions
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12
src/drivers/airspeed/airspeed.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -86,6 +86,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) :
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(-1),
_class_instance(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
@ -102,6 +103,9 @@ Airspeed::~Airspeed()
/* make sure we are truly inactive */
stop();
if (_class_instance != -1)
unregister_class_devname(AIRSPEED_DEVICE_PATH, _class_instance);
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
@ -126,10 +130,8 @@ Airspeed::init()
if (_reports == nullptr)
goto out;
/* get a publish handle on the airspeed topic */
differential_pressure_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &zero_report);
/* register alternate interfaces if we have to */
_class_instance = register_class_devname(AIRSPEED_DEVICE_PATH);
if (_airspeed_pub < 0)
warnx("failed to create airspeed sensor object. Did you start uOrb?");

4
src/drivers/airspeed/airspeed.h
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -127,6 +127,8 @@ protected:
orb_advert_t _airspeed_pub;
int _class_instance;
unsigned _conversion_interval;
perf_counter_t _sample_perf;

15
src/drivers/ets_airspeed/ets_airspeed.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -185,7 +185,18 @@ ETSAirspeed::collect()
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_airspeed_pub > 0) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
} else {
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report);
if (_airspeed_pub < 0)
debug("failed to create differential_pressure publication");
}
}
new_report(report);

15
src/drivers/meas_airspeed/meas_airspeed.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -217,7 +217,18 @@ MEASAirspeed::collect()
report.max_differential_pressure_pa = _max_differential_pressure_pa;
/* announce the airspeed if needed, just publish else */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
if (_airspeed_pub > 0) {
/* publish it */
orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
} else {
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &report);
if (_airspeed_pub < 0)
debug("failed to create differential_pressure publication");
}
}
new_report(report);