Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 18:47:21 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

replace mag_report with sensor_mag_s

Browse Source
This commit is contained in:
Daniel Agar
2020-01-10 11:08:28 -05:00
parent e19e0bd616
commit ceec0238c4
20 changed files with 61 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
+1 -1
View File
@@ -276,7 +276,7 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
/* Publish mag first. */ /* Publish mag first. */
perf_begin(_mag_sample_perf); perf_begin(_mag_sample_perf);
mag_report mag_report = {}; sensor_mag_s mag_report = {};
mag_report.timestamp = hrt_absolute_time(); mag_report.timestamp = hrt_absolute_time();
mag_report.is_external = true; mag_report.is_external = true;
src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+2 -2
View File
@@ -256,7 +256,7 @@ int DfLsm9ds1Wrapper::start()
} }
if (_mag_enabled) { if (_mag_enabled) {
mag_report mag_report = {}; sensor_mag_s mag_report = {};
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report, _mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
&_mag_orb_class_instance, ORB_PRIO_DEFAULT); &_mag_orb_class_instance, ORB_PRIO_DEFAULT);
@@ -593,7 +593,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
sensor_accel_s accel_report = {}; sensor_accel_s accel_report = {};
sensor_gyro_s gyro_report = {}; sensor_gyro_s gyro_report = {};
mag_report mag_report = {}; sensor_mag_s mag_report = {};
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time(); accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
mag_report.timestamp = accel_report.timestamp; mag_report.timestamp = accel_report.timestamp;
src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+1 -1
View File
@@ -587,7 +587,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
sensor_accel_s accel_report = {}; sensor_accel_s accel_report = {};
sensor_gyro_s gyro_report = {}; sensor_gyro_s gyro_report = {};
mag_report mag_report = {}; sensor_mag_s mag_report = {};
accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time(); accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
src/drivers/drv_mag.h
-1
View File
@@ -50,7 +50,6 @@
#define MAG2_DEVICE_PATH "/dev/mag2" #define MAG2_DEVICE_PATH "/dev/mag2"
#include <uORB/topics/sensor_mag.h> #include <uORB/topics/sensor_mag.h>
#define mag_report sensor_mag_s
/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */ /** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
struct mag_calibration_s { struct mag_calibration_s {
src/drivers/magnetometer/bmm150/bmm150.cpp
+8 -8
View File
@@ -135,7 +135,7 @@ void test(bool external_bus)
{ {
int fd = -1; int fd = -1;
const char *path = (external_bus ? BMM150_DEVICE_PATH_MAG_EXT : BMM150_DEVICE_PATH_MAG); const char *path = (external_bus ? BMM150_DEVICE_PATH_MAG_EXT : BMM150_DEVICE_PATH_MAG);
struct mag_report m_report; sensor_mag_s m_report;
ssize_t sz; ssize_t sz;
@@ -338,7 +338,7 @@ int BMM150::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s));
if (_reports == nullptr) { if (_reports == nullptr) {
goto out; goto out;
@@ -374,7 +374,7 @@ int BMM150::init()
} }
/* advertise sensor topic, measure manually to initialize valid report */ /* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrb; sensor_mag_s mrb;
_reports->get(&mrb); _reports->get(&mrb);
/* measurement will have generated a report, publish */ /* measurement will have generated a report, publish */
@@ -425,8 +425,8 @@ BMM150::stop()
ssize_t ssize_t
BMM150::read(struct file *filp, char *buffer, size_t buflen) BMM150::read(struct file *filp, char *buffer, size_t buflen)
{ {
unsigned count = buflen / sizeof(mag_report); unsigned count = buflen / sizeof(sensor_mag_s);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); sensor_mag_s *mag_buf = reinterpret_cast<sensor_mag_s *>(buffer);
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
@@ -443,7 +443,7 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen)
*/ */
while (count--) { while (count--) {
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report); ret += sizeof(sensor_mag_s);
mag_buf++; mag_buf++;
} }
} }
@@ -474,7 +474,7 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen)
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report); ret = sizeof(sensor_mag_s);
} }
} while (0); } while (0);
@@ -540,7 +540,7 @@ BMM150::collect()
bool mag_notify = true; bool mag_notify = true;
uint8_t mag_data[8], status; uint8_t mag_data[8], status;
uint16_t resistance, lsb, msb, msblsb; uint16_t resistance, lsb, msb, msblsb;
mag_report mrb; sensor_mag_s mrb{};
/* start collecting data */ /* start collecting data */
src/drivers/magnetometer/bmm150/bmm150.hpp
+2 -2
View File
@@ -224,7 +224,7 @@ private:
unsigned _call_interval; unsigned _call_interval;
mag_report _report {}; sensor_mag_s _report {};
ringbuffer::RingBuffer *_reports; ringbuffer::RingBuffer *_reports;
bool _collect_phase; bool _collect_phase;
@@ -265,7 +265,7 @@ private:
enum Rotation _rotation; enum Rotation _rotation;
bool _got_duplicate; bool _got_duplicate;
mag_report _last_report {}; /**< used for info() */ sensor_mag_s _last_report {}; /**< used for info() */
int init_trim_registers(void); int init_trim_registers(void);
src/drivers/magnetometer/hmc5883/HMC5883.cpp
+6 -6
View File
@@ -104,7 +104,7 @@ HMC5883::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s));
if (_reports == nullptr) { if (_reports == nullptr) {
goto out; goto out;
@@ -243,8 +243,8 @@ void HMC5883::check_conf(void)
ssize_t ssize_t
HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen) HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen)
{ {
unsigned count = buflen / sizeof(struct mag_report); unsigned count = buflen / sizeof(sensor_mag_s);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); sensor_mag_s *mag_buf = reinterpret_cast<sensor_mag_s *>(buffer);
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
@@ -261,7 +261,7 @@ HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen)
*/ */
while (count--) { while (count--) {
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report); ret += sizeof(sensor_mag_s);
mag_buf++; mag_buf++;
} }
} }
@@ -291,7 +291,7 @@ HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen)
} }
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report); ret = sizeof(sensor_mag_s);
} }
} while (0); } while (0);
@@ -498,7 +498,7 @@ HMC5883::collect()
uint8_t check_counter; uint8_t check_counter;
perf_begin(_sample_perf); perf_begin(_sample_perf);
struct mag_report new_report; sensor_mag_s new_report;
bool sensor_is_onboard = false; bool sensor_is_onboard = false;
float xraw_f; float xraw_f;
src/drivers/magnetometer/hmc5883/HMC5883.hpp
+1 -1
View File
@@ -158,7 +158,7 @@ private:
enum Rotation _rotation; enum Rotation _rotation;
struct mag_report _last_report {}; /**< used for info() */ sensor_mag_s _last_report {}; /**< used for info() */
uint8_t _range_bits; uint8_t _range_bits;
uint8_t _conf_reg; uint8_t _conf_reg;
src/drivers/magnetometer/ist8310/ist8310.cpp
+8 -8
View File
@@ -428,7 +428,7 @@ IST8310::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s));
if (_reports == nullptr) { if (_reports == nullptr) {
goto out; goto out;
@@ -515,8 +515,8 @@ void IST8310::check_conf(void)
ssize_t ssize_t
IST8310::read(struct file *filp, char *buffer, size_t buflen) IST8310::read(struct file *filp, char *buffer, size_t buflen)
{ {
unsigned count = buflen / sizeof(struct mag_report); unsigned count = buflen / sizeof(sensor_mag_s);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); sensor_mag_s *mag_buf = reinterpret_cast<sensor_mag_s *>(buffer);
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
@@ -533,7 +533,7 @@ IST8310::read(struct file *filp, char *buffer, size_t buflen)
*/ */
while (count--) { while (count--) {
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report); ret += sizeof(sensor_mag_s);
mag_buf++; mag_buf++;
} }
} }
@@ -563,7 +563,7 @@ IST8310::read(struct file *filp, char *buffer, size_t buflen)
} }
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report); ret = sizeof(sensor_mag_s);
} }
} while (0); } while (0);
@@ -781,7 +781,7 @@ IST8310::collect()
uint8_t check_counter; uint8_t check_counter;
perf_begin(_sample_perf); perf_begin(_sample_perf);
struct mag_report new_report; sensor_mag_s new_report;
const bool sensor_is_external = external(); const bool sensor_is_external = external();
float xraw_f; float xraw_f;
@@ -899,7 +899,7 @@ out:
int IST8310::calibrate(struct file *filp, unsigned enable) int IST8310::calibrate(struct file *filp, unsigned enable)
{ {
struct mag_report report {}; sensor_mag_s report {};
ssize_t sz; ssize_t sz;
int ret = 1; int ret = 1;
float total_x = 0.0f; float total_x = 0.0f;
@@ -1249,7 +1249,7 @@ void
test(enum IST8310_BUS busid) test(enum IST8310_BUS busid)
{ {
struct ist8310_bus_option &bus = find_bus(busid); struct ist8310_bus_option &bus = find_bus(busid);
struct mag_report report {}; sensor_mag_s report {};
ssize_t sz; ssize_t sz;
int ret; int ret;
const char *path = bus.devpath; const char *path = bus.devpath;
src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+7 -7
View File
@@ -116,7 +116,7 @@ LIS3MDL::~LIS3MDL()
int int
LIS3MDL::calibrate(struct file *file_pointer, unsigned enable) LIS3MDL::calibrate(struct file *file_pointer, unsigned enable)
{ {
struct mag_report report; sensor_mag_s report;
ssize_t sz; ssize_t sz;
int ret = 1; int ret = 1;
uint8_t num_samples = 10; uint8_t num_samples = 10;
@@ -348,7 +348,7 @@ LIS3MDL::collect()
float yraw_f; float yraw_f;
float zraw_f; float zraw_f;
struct mag_report new_mag_report; sensor_mag_s new_mag_report;
bool sensor_is_onboard = false; bool sensor_is_onboard = false;
perf_begin(_sample_perf); perf_begin(_sample_perf);
@@ -477,7 +477,7 @@ LIS3MDL::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s));
if (_reports == nullptr) { if (_reports == nullptr) {
return PX4_ERROR; return PX4_ERROR;
@@ -631,8 +631,8 @@ LIS3MDL::reset()
int int
LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len) LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len)
{ {
unsigned count = buffer_len / sizeof(struct mag_report); unsigned count = buffer_len / sizeof(sensor_mag_s);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); sensor_mag_s *mag_buf = reinterpret_cast<sensor_mag_s *>(buffer);
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
@@ -649,7 +649,7 @@ LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len)
*/ */
while (count--) { while (count--) {
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report); ret += sizeof(sensor_mag_s);
mag_buf++; mag_buf++;
} }
} }
@@ -679,7 +679,7 @@ LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len)
} }
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report); ret = sizeof(sensor_mag_s);
} }
} while (0); } while (0);
src/drivers/magnetometer/lis3mdl/lis3mdl.h
+1 -1
View File
@@ -145,7 +145,7 @@ private:
struct mag_calibration_s _scale; struct mag_calibration_s _scale;
struct mag_report _last_report {}; /**< used for info() */ sensor_mag_s _last_report {}; /**< used for info() */
orb_advert_t _mag_topic; orb_advert_t _mag_topic;
src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
+1 -1
View File
@@ -160,7 +160,7 @@ lis3mdl::stop(struct lis3mdl_bus_option &bus)
int int
lis3mdl::test(struct lis3mdl_bus_option &bus) lis3mdl::test(struct lis3mdl_bus_option &bus)
{ {
struct mag_report report; sensor_mag_s report;
ssize_t sz; ssize_t sz;
int ret; int ret;
const char *path = bus.devpath; const char *path = bus.devpath;
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
+1 -1
View File
@@ -423,7 +423,7 @@ LSM303AGR::collect()
/* start the performance counter */ /* start the performance counter */
perf_begin(_mag_sample_perf); perf_begin(_mag_sample_perf);
mag_report mag_report = {}; sensor_mag_s mag_report = {};
mag_report.timestamp = hrt_absolute_time(); mag_report.timestamp = hrt_absolute_time();
// switch to right hand coordinate system in place // switch to right hand coordinate system in place
src/drivers/magnetometer/qmc5883/qmc5883.cpp
+8 -8
View File
@@ -181,7 +181,7 @@ private:
enum Rotation _rotation; enum Rotation _rotation;
struct mag_report _last_report {}; /**< used for info() */ sensor_mag_s _last_report {}; /**< used for info() */
uint8_t _range_bits; uint8_t _range_bits;
uint8_t _conf_reg; uint8_t _conf_reg;
@@ -330,7 +330,7 @@ QMC5883::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s));
if (_reports == nullptr) { if (_reports == nullptr) {
goto out; goto out;
@@ -378,8 +378,8 @@ void QMC5883::check_conf(void)
ssize_t ssize_t
QMC5883::read(struct file *filp, char *buffer, size_t buflen) QMC5883::read(struct file *filp, char *buffer, size_t buflen)
{ {
unsigned count = buflen / sizeof(struct mag_report); unsigned count = buflen / sizeof(sensor_mag_s);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); sensor_mag_s *mag_buf = reinterpret_cast<sensor_mag_s *>(buffer);
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
@@ -396,7 +396,7 @@ QMC5883::read(struct file *filp, char *buffer, size_t buflen)
*/ */
while (count--) { while (count--) {
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report); ret += sizeof(sensor_mag_s);
mag_buf++; mag_buf++;
} }
} }
@@ -420,7 +420,7 @@ QMC5883::read(struct file *filp, char *buffer, size_t buflen)
} }
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report); ret = sizeof(sensor_mag_s);
} }
} while (0); } while (0);
@@ -617,7 +617,7 @@ QMC5883::collect()
uint8_t check_counter; uint8_t check_counter;
perf_begin(_sample_perf); perf_begin(_sample_perf);
struct mag_report new_report; sensor_mag_s new_report;
bool sensor_is_onboard = false; bool sensor_is_onboard = false;
float xraw_f; float xraw_f;
@@ -953,7 +953,7 @@ void
test(enum QMC5883_BUS busid) test(enum QMC5883_BUS busid)
{ {
struct qmc5883_bus_option &bus = find_bus(busid); struct qmc5883_bus_option &bus = find_bus(busid);
struct mag_report report; sensor_mag_s report;
ssize_t sz; ssize_t sz;
int ret; int ret;
const char *path = bus.devpath; const char *path = bus.devpath;
src/drivers/magnetometer/rm3100/rm3100.cpp
+6 -6
View File
@@ -192,7 +192,7 @@ RM3100::collect()
float yraw_f; float yraw_f;
float zraw_f; float zraw_f;
struct mag_report new_mag_report; sensor_mag_s new_mag_report;
bool sensor_is_onboard = false; bool sensor_is_onboard = false;
perf_begin(_sample_perf); perf_begin(_sample_perf);
@@ -326,7 +326,7 @@ RM3100::init()
} }
/* allocate basic report buffers */ /* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s));
if (_reports == nullptr) { if (_reports == nullptr) {
return PX4_ERROR; return PX4_ERROR;
@@ -500,8 +500,8 @@ RM3100::reset()
int int
RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len) RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len)
{ {
unsigned count = buffer_len / sizeof(struct mag_report); unsigned count = buffer_len / sizeof(sensor_mag_s);
struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); sensor_mag_s *mag_buf = reinterpret_cast<sensor_mag_s *>(buffer);
int ret = 0; int ret = 0;
/* buffer must be large enough */ /* buffer must be large enough */
@@ -518,7 +518,7 @@ RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len)
*/ */
while (count--) { while (count--) {
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret += sizeof(struct mag_report); ret += sizeof(sensor_mag_s);
mag_buf++; mag_buf++;
} }
} }
@@ -548,7 +548,7 @@ RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len)
} }
if (_reports->get(mag_buf)) { if (_reports->get(mag_buf)) {
ret = sizeof(struct mag_report); ret = sizeof(sensor_mag_s);
} }
} while (0); } while (0);
src/drivers/magnetometer/rm3100/rm3100.h
+1 -1
View File
@@ -152,7 +152,7 @@ private:
struct mag_calibration_s _scale; struct mag_calibration_s _scale;
struct mag_report _last_report {}; /**< used for info() */ sensor_mag_s _last_report {}; /**< used for info() */
orb_advert_t _mag_topic; orb_advert_t _mag_topic;
src/drivers/magnetometer/rm3100/rm3100_main.cpp
+1 -1
View File
@@ -154,7 +154,7 @@ bool
rm3100::test(RM3100_BUS bus_id) rm3100::test(RM3100_BUS bus_id)
{ {
struct rm3100_bus_option &bus = find_bus(bus_id); struct rm3100_bus_option &bus = find_bus(bus_id);
struct mag_report report; sensor_mag_s report;
ssize_t sz; ssize_t sz;
int ret; int ret;
const char *path = bus.devpath; const char *path = bus.devpath;
src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+2 -2
View File
@@ -98,7 +98,7 @@ static int _mag_orb_class_instance; /**< instance handle for mag devices
static int _params_sub; /**< parameter update subscription */ static int _params_sub; /**< parameter update subscription */
static sensor_gyro_s _gyro; /**< gyro report */ static sensor_gyro_s _gyro; /**< gyro report */
static sensor_accel_s _accel; /**< accel report */ static sensor_accel_s _accel; /**< accel report */
static struct mag_report _mag; /**< mag report */ static sensor_mag_s _mag; /**< mag report */
static struct gyro_calibration_s _gyro_sc; /**< gyro scale */ static struct gyro_calibration_s _gyro_sc; /**< gyro scale */
static struct accel_calibration_s _accel_sc; /**< accel scale */ static struct accel_calibration_s _accel_sc; /**< accel scale */
static struct mag_calibration_s _mag_sc; /**< mag scale */ static struct mag_calibration_s _mag_sc; /**< mag scale */
@@ -348,7 +348,7 @@ bool create_pubs()
// initialize the reports // initialize the reports
memset(&_gyro, 0, sizeof(sensor_gyro_s)); memset(&_gyro, 0, sizeof(sensor_gyro_s));
memset(&_accel, 0, sizeof(sensor_accel_s)); memset(&_accel, 0, sizeof(sensor_accel_s));
memset(&_mag, 0, sizeof(struct mag_report)); memset(&_mag, 0, sizeof(sensor_mag_s));
_gyro_pub = orb_advertise_multi(ORB_ID(sensor_gyro), &_gyro, _gyro_pub = orb_advertise_multi(ORB_ID(sensor_gyro), &_gyro,
&_gyro_orb_class_instance, ORB_PRIO_HIGH - 1); &_gyro_orb_class_instance, ORB_PRIO_HIGH - 1);
src/modules/commander/mag_calibration.cpp
+2 -2
View File
@@ -462,7 +462,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
prev_count[cur_mag] = worker_data->calibration_counter_total[cur_mag]; prev_count[cur_mag] = worker_data->calibration_counter_total[cur_mag];
if (worker_data->sub_mag[cur_mag] >= 0) { if (worker_data->sub_mag[cur_mag] >= 0) {
struct mag_report mag; sensor_mag_s mag{};
orb_copy(ORB_ID(sensor_mag), worker_data->sub_mag[cur_mag], &mag); orb_copy(ORB_ID(sensor_mag), worker_data->sub_mag[cur_mag], &mag);
@@ -606,7 +606,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
for (unsigned i = 0; i < orb_mag_count && !found_cur_mag; i++) { for (unsigned i = 0; i < orb_mag_count && !found_cur_mag; i++) {
worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), i); worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), i);
struct mag_report report; sensor_mag_s report{};
orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report); orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report);
#ifdef __PX4_NUTTX #ifdef __PX4_NUTTX
src/modules/sensors/voted_sensors_update.cpp
+2 -2
View File
@@ -417,7 +417,7 @@ void VotedSensorsUpdate::parametersUpdate()
for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX
&& topic_instance < _mag.subscription_count; ++topic_instance) { && topic_instance < _mag.subscription_count; ++topic_instance) {
struct mag_report report; sensor_mag_s report;
if (orb_copy(ORB_ID(sensor_mag), _mag.subscription[topic_instance], &report) != 0) { if (orb_copy(ORB_ID(sensor_mag), _mag.subscription[topic_instance], &report) != 0) {
continue; continue;
@@ -779,7 +779,7 @@ void VotedSensorsUpdate::magPoll(vehicle_magnetometer_s &magnetometer)
orb_check(_mag.subscription[uorb_index], &mag_updated); orb_check(_mag.subscription[uorb_index], &mag_updated);
if (mag_updated) { if (mag_updated) {
struct mag_report mag_report; sensor_mag_s mag_report{};
int ret = orb_copy(ORB_ID(sensor_mag), _mag.subscription[uorb_index], &mag_report); int ret = orb_copy(ORB_ID(sensor_mag), _mag.subscription[uorb_index], &mag_report);