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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-15 21:50:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-02 12:28:22 +0100 |
| commit | 08297db39a909df9b024867eeb23720532f5625f (patch) | |
| tree | dad64ae36c77e2048454497ee3fb5fee847db4b1 /src/drivers | |
| parent | d20ebd739045c3fb1fb215c549707618f0b2554b (diff) | |
| download | px4-firmware-08297db39a909df9b024867eeb23720532f5625f.tar.gz px4-firmware-08297db39a909df9b024867eeb23720532f5625f.tar.bz2 px4-firmware-08297db39a909df9b024867eeb23720532f5625f.zip | |
Support for 2nd baro
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/drv_baro.h | 1 | ||||
| -rw-r--r-- | src/drivers/ms5611/ms5611.cpp | 21 |
2 files changed, 5 insertions, 17 deletions
diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h index 248b9a73d..3e28d3d3d 100644 --- a/src/drivers/drv_baro.h +++ b/src/drivers/drv_baro.h @@ -65,6 +65,7 @@ struct baro_report { */ ORB_DECLARE(sensor_baro0); ORB_DECLARE(sensor_baro1); +ORB_DECLARE(sensor_baro2); /* * ioctl() definitions diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index aed72de01..0a793cbc9 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -134,6 +134,7 @@ protected: unsigned _msl_pressure; /* in Pa */ orb_advert_t _baro_topic; + orb_id_t _orb_id; int _class_instance; @@ -262,6 +263,7 @@ MS5611::init() /* register alternate interfaces if we have to */ _class_instance = register_class_devname(BARO_DEVICE_PATH); + _orb_id = ORB_ID_TRIPLE(sensor_baro, _class_instance); struct baro_report brp; /* do a first measurement cycle to populate reports with valid data */ @@ -301,14 +303,7 @@ MS5611::init() ret = OK; - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - _baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp); - break; - case CLASS_DEVICE_SECONDARY: - _baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp); - break; - } + _baro_topic = orb_advertise(_orb_id, &brp); if (_baro_topic < 0) { warnx("failed to create sensor_baro publication"); @@ -730,15 +725,7 @@ MS5611::collect() /* publish it */ if (!(_pub_blocked)) { /* publish it */ - switch (_class_instance) { - case CLASS_DEVICE_PRIMARY: - orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report); - break; - - case CLASS_DEVICE_SECONDARY: - orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report); - break; - } + orb_publish(_orb_id, _baro_topic, &report); } if (_reports->force(&report)) { |