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vl53lxx distance sensor: Remove subsystem_info calls because all sensors are now checked inside commander

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This commit is contained in:
Philipp Oettershagen
2018-05-26 02:21:16 +02:00
committed by Beat Küng
parent 075009be2f
commit be4ba32cf0
1 changed files with 0 additions and 19 deletions
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src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
-19
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@@ -66,7 +66,6 @@
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/obstacle_distance.h>
@@ -149,7 +148,6 @@ private:
int _orb_class_instance;
orb_advert_t _distance_sensor_topic;
orb_advert_t _subsystem_pub;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
@@ -214,7 +212,6 @@ VL53LXX::VL53LXX(uint8_t rotation, int bus, int address) :
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(nullptr),
_subsystem_pub(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "vl53lxx_read")),
_comms_errors(perf_alloc(PC_COUNT, "vl53lxx_com_err"))
{
@@ -720,22 +717,6 @@ VL53LXX::start()
/* schedule a cycle to start things */
work_queue(LPWORK, &_work, (worker_t)&VL53LXX::cycle_trampoline, this, USEC2TICK(VL53LXX_US));
/* notify about state change */
struct subsystem_info_s info = {};
info.timestamp = hrt_absolute_time();
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
if (_subsystem_pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
} else {
_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}