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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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src/drivers/ets_airspeed/ets_airspeed.cpp
+13 -2
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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);