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df_lsm9ds1_wrapper: new DF submodule, fixes

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Julian Oes
2016-06-24 19:43:17 +02:00
committed by Lorenz Meier
parent e56be33e50
commit fedde86bf4
2 changed files with 2 additions and 7 deletions
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src/lib/DriverFramework
+1 -1
Submodule src/lib/DriverFramework updated: 0010ee4798...d1ab15894a
src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+1 -6
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@@ -597,12 +597,6 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
vec_integrated_unused, vec_integrated_unused,
integral_dt_unused); integral_dt_unused);
// If we are not receiving the last sample from the FIFO buffer yet, let's stop here
// and wait for more packets.
if (!data.is_last_fifo_sample) {
return 0;
}
// The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz. // The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz.
// Therefore, only publish every forth time. // Therefore, only publish every forth time.
++_publish_count; ++_publish_count;
@@ -700,6 +694,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
// TODO: when is this ever blocked? // TODO: when is this ever blocked?
if (!(m_pub_blocked)) { if (!(m_pub_blocked)) {
if (_gyro_topic != nullptr) { if (_gyro_topic != nullptr) {
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report); orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);
} }