diff options
Diffstat (limited to 'src/drivers/airspeed/airspeed.cpp')
| -rw-r--r-- | src/drivers/airspeed/airspeed.cpp | 48 |
1 files changed, 28 insertions, 20 deletions
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 771f2128f..41942aacd 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -76,16 +76,18 @@ #include <drivers/airspeed/airspeed.h> -Airspeed::Airspeed(int bus, int address, unsigned conversion_interval) : - I2C("Airspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000), +Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) : + I2C("Airspeed", path, bus, address, 100000), _reports(nullptr), _buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")), _max_differential_pressure_pa(0), _sensor_ok(false), + _last_published_sensor_ok(true), /* initialize differently to force publication */ _measure_ticks(0), _collect_phase(false), _diff_pres_offset(0.0f), _airspeed_pub(-1), + _subsys_pub(-1), _class_instance(-1), _conversion_interval(conversion_interval), _sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")), @@ -149,8 +151,7 @@ Airspeed::init() } ret = OK; - /* sensor is ok, but we don't really know if it is within range */ - _sensor_ok = true; + out: return ret; } @@ -344,22 +345,6 @@ Airspeed::start() /* schedule a cycle to start things */ work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1); - - /* notify about state change */ - struct subsystem_info_s info = { - true, - true, - true, - SUBSYSTEM_TYPE_DIFFPRESSURE - }; - static orb_advert_t pub = -1; - - if (pub > 0) { - orb_publish(ORB_ID(subsystem_info), pub, &info); - - } else { - pub = orb_advertise(ORB_ID(subsystem_info), &info); - } } void @@ -369,11 +354,34 @@ Airspeed::stop() } void +Airspeed::update_status() +{ + if (_sensor_ok != _last_published_sensor_ok) { + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + _sensor_ok, + SUBSYSTEM_TYPE_DIFFPRESSURE + }; + + if (_subsys_pub > 0) { + orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info); + } else { + _subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info); + } + + _last_published_sensor_ok = _sensor_ok; + } +} + +void Airspeed::cycle_trampoline(void *arg) { Airspeed *dev = (Airspeed *)arg; dev->cycle(); + dev->update_status(); } void |