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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-13 08:05:36 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-13 08:05:36 +0200 |
| commit | be6b9a1b3693a32f6d6870a3986b01c0778993fa (patch) | |
| tree | 02a96497073c234dc525051932becc5352164a7e /src/drivers/hmc5883/hmc5883.cpp | |
| parent | 227d52b02c634017c7ad616cc212c8fcbca1dcbe (diff) | |
| download | px4-firmware-be6b9a1b3693a32f6d6870a3986b01c0778993fa.tar.gz px4-firmware-be6b9a1b3693a32f6d6870a3986b01c0778993fa.tar.bz2 px4-firmware-be6b9a1b3693a32f6d6870a3986b01c0778993fa.zip | |
hmc5883: Change static topic publication to the class member it should be, initialize collect phase (linter find)
Diffstat (limited to 'src/drivers/hmc5883/hmc5883.cpp')
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index cdc9d3106..fddba806e 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -158,6 +158,7 @@ private: int _class_instance; orb_advert_t _mag_topic; + orb_advert_t _subsystem_pub; perf_counter_t _sample_perf; perf_counter_t _comms_errors; @@ -324,7 +325,9 @@ HMC5883::HMC5883(int bus) : _reports(nullptr), _range_scale(0), /* default range scale from counts to gauss */ _range_ga(1.3f), + _collect_phase(false), _mag_topic(-1), + _subsystem_pub(-1), _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), @@ -1137,13 +1140,12 @@ int HMC5883::check_calibration() true, _calibrated, SUBSYSTEM_TYPE_MAG}; - static orb_advert_t pub = -1; if (!(_pub_blocked)) { - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); + if (_subsystem_pub > 0) { + orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info); } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); + _subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info); } } } |