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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-12 22:57:07 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-12 22:57:07 +0200 |
| commit | e09c0dd8b9a3275d13fd8069e381bf2c32820236 (patch) | |
| tree | 0c80656b06fa462abb53a209e590d2103279deb3 | |
| parent | 29ffb3bad34f146a553423d8a871669bbd91c2b6 (diff) | |
| download | px4-firmware-e09c0dd8b9a3275d13fd8069e381bf2c32820236.tar.gz px4-firmware-e09c0dd8b9a3275d13fd8069e381bf2c32820236.tar.bz2 px4-firmware-e09c0dd8b9a3275d13fd8069e381bf2c32820236.zip | |
Reduce RAM footprint of HoTT driver, fix publication to contain ESC data
| -rw-r--r-- | src/drivers/hott/messages.cpp | 19 |
1 files changed, 9 insertions, 10 deletions
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp index 90a744015..fe8ad6a9e 100644 --- a/src/drivers/hott/messages.cpp +++ b/src/drivers/hott/messages.cpp @@ -62,7 +62,6 @@ static int _airspeed_sub = -1; static int _esc_sub = -1; static orb_advert_t _esc_pub; -struct esc_status_s _esc; static bool _home_position_set = false; static double _home_lat = 0.0d; @@ -82,8 +81,6 @@ init_sub_messages(void) void init_pub_messages(void) { - memset(&_esc, 0, sizeof(_esc)); - _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); } void @@ -106,13 +103,8 @@ publish_gam_message(const uint8_t *buffer) size_t size = sizeof(msg); memset(&msg, 0, size); memcpy(&msg, buffer, size); - - /* announce the esc if needed, just publish else */ - if (_esc_pub > 0) { - orb_publish(ORB_ID(esc_status), _esc_pub, &_esc); - } else { - _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); - } + struct esc_status_s _esc; + memset(&_esc, 0, sizeof(_esc)); // Publish it. _esc.esc_count = 1; @@ -123,6 +115,13 @@ publish_gam_message(const uint8_t *buffer) _esc.esc[0].esc_temperature = msg.temperature1 - 20; _esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)); _esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff)); + + /* announce the esc if needed, just publish else */ + if (_esc_pub > 0) { + orb_publish(ORB_ID(esc_status), _esc_pub, &_esc); + } else { + _esc_pub = orb_advertise(ORB_ID(esc_status), &_esc); + } } void |