fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 20:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master'

Browse Source
This commit is contained in:
TSC21
2015-05-21 12:26:55 +01:00
parent 1978f1bcac
commit db48df15c8
43 changed files with 481 additions and 749 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/sf0x/sf0x.cpp
+23 -18
View File
@@ -260,32 +260,37 @@ SF0X::~SF0X()
int
SF0X::init()
{
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
}
/* status */
int ret = 0;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
do { /* create a scope to handle exit conditions using break */
if (_reports == nullptr) {
warnx("mem err");
goto out;
}
/* do regular cdev init */
ret = CDev::init();
if (ret != OK) break;
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
warnx("mem err");
ret = -1;
break;
}
if (_range_finder_topic < 0) {
warnx("advert err");
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0) {
warnx("advert err");
}
} while(0);
/* close the fd */
::close(_fd);
_fd = -1;
out:
return OK;
}