Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-07 09:13:32 +08:00
Code Issues Actions 31 Packages Projects Releases Wiki Activity

df_isl29501_wrapper: don't advertise garbage

Browse Source
This commit is contained in:
Julian Oes
2016-06-04 21:59:43 +02:00
committed by Lorenz Meier
parent 7c57696752
commit 40d6a4e5fc
1 changed files with 6 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp
+6 -10
View File
@@ -118,11 +118,6 @@ DfISL29501Wrapper::~DfISL29501Wrapper()
int DfISL29501Wrapper::start()
{
struct distance_sensor_s d;
_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
&_orb_class_instance, ORB_PRIO_DEFAULT);
int ret;
ret = ISL29501::init();
@@ -156,10 +151,6 @@ int DfISL29501Wrapper::stop()
int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
{
if (!_range_topic) {
return 1;
}
struct distance_sensor_s d;
memset(&d, 0, sizeof(d));
@@ -178,7 +169,12 @@ int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
d.covariance = 0.0f;
orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
if (_range_topic == nullptr) {
_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
&_orb_class_instance, ORB_PRIO_DEFAULT);
} else {
orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
}
/* Notify anyone waiting for data. */
DevMgr::updateNotify(*this);