diff options
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 21 |
1 files changed, 12 insertions, 9 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8e990aa6f..82f3ba044 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1332,12 +1332,15 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) battery_status.discharged_mah = _battery_mamphour_total; _battery_last_timestamp = battery_status.timestamp; - /* lazily publish the battery voltage */ - if (_to_battery > 0) { - orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); + /* the announced battery status would conflict with the simulated battery status in HIL */ + if (!(_pub_blocked)) { + /* lazily publish the battery voltage */ + if (_to_battery > 0) { + orb_publish(ORB_ID(battery_status), _to_battery, &battery_status); - } else { - _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); + } else { + _to_battery = orb_advertise(ORB_ID(battery_status), &battery_status); + } } } @@ -1959,8 +1962,7 @@ PX4IO::print_status() } int -PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) -/* Make it obvious that file * isn't used here */ +PX4IO::ioctl(file * filep, int cmd, unsigned long arg) { int ret = OK; @@ -2372,8 +2374,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) break; default: - /* not a recognized value */ - ret = -ENOTTY; + /* see if the parent class can make any use of it */ + ret = CDev::ioctl(filep, cmd, arg); + break; } return ret; |